<> <> ## AUTOGENERATED DON'T DELETE ## CategoryPackage = Multiple objects detection, tracking and classification from LIDAR scans/point-clouds = [[https://zenodo.org/badge/47581608.svg)](https://zenodo.org/badge/latestdoi/47581608|DOI]] [[attachment:multi-object-tracking-lidar-demo.gif|Sample demo of multiple object tracking using LIDAR scans]] PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynamic objects in real-time from LIDAR scans implemented in C++. == Features: == * K-D tree based point cloud processing for object feature detection from point clouds * Unsupervised k-means clustering based on detected features and refinement using RANSAC * Stable tracking (object ID & data association) with an ensemble of Kalman Filters * Robust compared to k-means clustering with mean-flow tracking == Usage: == Follow the steps below to use this (`multi_object_tracking_lidar`) package: 1. [[http://wiki.ros.org/catkin/Tutorials/create_a_workspace|Create a catkin workspace]] (if you do not have one setup already). 1. Navigate to the `src` folder in your catkin workspace: `cd ~/catkin_ws/src` 1. Clone this repository: `git clone https://github.com/praveen-palanisamy/multiple-object-tracking-lidar.git` 1. Compile and build the package: `cd ~/catkin_ws && catkin_make` 1. Add the catkin workspace to your ROS environment: `source ~/catkin_ws/devel/setup.bash` 1. Run the `kf_tracker` ROS node in this package: `rosrun multi_object_tracking_lidar kf_tracker` If all went well, the ROS node should be up and running! As long as you have the point clouds published on to the `filtered_cloud` rostopic, you should see outputs from this node published onto the `obj_id`, `cluster_0`, `cluster_1`, …, `cluster_5` topics along with the markers on `viz` topic which you can visualize using RViz. == Supported point-cloud streams/sources: == The input point-clouds can be from: 1. A real LiDAR or 1. A simulated LiDAR or 1. A point cloud dataset or 1. Any other data source that produces point clouds == Citing == If you use the code or snippets from this repository in your work, please cite: {{{ @software{praveen_palanisamy_2019_3559187, author = {Praveen Palanisamy}, title = {{praveen-palanisamy/multiple-object-tracking-lidar: Multiple-Object-Tracking-from-Point-Clouds_v1.0.2}}, month = dec, year = 2019, publisher = {Zenodo}, version = {1.0.2}, doi = {10.5281/zenodo.3559187}, url = {https://doi.org/10.5281/zenodo.3559186} } }}} == Wiki == [[https://github.com/praveen-palanisamy/multiple-object-tracking-lidar/wiki|Checkout the Wiki pages]] (https://github.com/praveen-palanisamy/multiple-object-tracking-lidar/wiki) 1. [[https://github.com/praveen-palanisamy/multiple-object-tracking-lidar/blob/master/velodyne_vlp16|Multiple-object tracking from pointclouds using a Velodyne VLP-16]]