Movatterモバイル変換

[0]ホーム
URL:

Skip to content

Navigation Menu

Sign in
Appearance settings

Search code, repositories, users, issues, pull requests...

Provide feedback

We read every piece of feedback, and take your input very seriously.

Saved searches

Use saved searches to filter your results more quickly

 Sign up
Appearance settings

Depth-Based Bayesian Object Tracking Library

License

NotificationsYou must be signed in to change notification settings

bayesian-object-tracking/dbot

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

749 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

This library implements two different object tracking algorithms:

   inproceedings{wuthrich-iros-2013,     title = {Probabilistic Object Tracking Using a Range Camera},     author = {W{\"u}thrich, M. and Pastor, P. and Kalakrishnan, M. and Bohg, J. and Schaal, S.},     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},     pages = {3195-3202},     publisher = {IEEE},     month = nov,     year = {2013},     month_numeric = {11}  }
   @inproceedings{jan_ICRA_2016,     title = {Depth-based Object Tracking Using a Robust Gaussian Filter},     author = {Issac, Jan and W{\"u}thrich, Manuel and Garcia Cifuentes, Cristina and Bohg, Jeannette and Trimpe, Sebastian and Schaal, Stefan},     booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016},     publisher = {IEEE},     month = may,     year = {2016},     url = {http://arxiv.org/abs/1602.06157},     month_numeric = {5}   }

All trackers require mesh models of the tracked objects in Wavefront (.obj) format.To get started, we recommend that you follow the instructions athttps://github.com/bayesian-object-tracking/getting_started.

Requirements

  • Ubuntu 14.04
  • C++11 Compiler (gcc-4.7 or later)
  • CUDA 6.5 or later (optional)

Dependecies

Compiling

The cmake package usesCatkin. If you have installed ROS groovy or later, then you most likely have catkin installed already.

 $ cd $HOME $ mkdir -p projects/tracking/src   $ cd projects/tracking/src $ git clone git@github.com:filtering-library/fl.git $ git clone git@github.com:bayesian-object-tracking/dbot.git $ cd .. $ catkin_make -DCMAKE_BUILD_TYPE=Release -DDBOT_BUILD_GPU=On

If no CUDA enabled device is available, you can deactivate the GPU implementation via

 $ catkin_make -DCMAKE_BUILD_TYPE=Release -DDBOT_BUILD_GPU=Off

How to use dbot

Checkout the ros nodes of each tracker indbot_ros package for exact usage of the filters.

[8]ページ先頭
©2009-2026 Movatter.jp