ROS2 3D bouding box object detection from pointclouds
This is a package for a baseline 3D bounding box detection and tracking using pointcloud data.
It's based on this package https://github.com/praveen-palanisamy/multiple-object-tracking-lidar
Design and algorithm
- Detect from clustering Unsupervised euclidean cluster extraction
- Track tracking (object ID & data association) with an ensemble of Kalman Filters
- Classify static and dynamic object
Installation
colcon build
Usage
ros2 run pcl_object_detection pcl_object_detection --ros-args --param-file config/config.yaml
Topics
Subscriptions:
- Name:
/filtered_clouds
Type:sensor_msgs::msg::PointCloud2
Publishers:
-
Name:
viz
Type:visualization_msgs::msg::MarkerArray
-
Name:
cluster
Type:sensor_msgs::msg::PointCloud2
-
Name:
obj_id
Type:std_msgs::msg::Int32MultiArray