i want to use Kinect sensor readings and the person tracker code from the examples... to control my mobile robot. can someone tell me how i can do that

asked 07 Mar, 12:54

JoelMungie's gravatar image

JoelMungie
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Hi Joel, in the code of Unit 6 of the course of ROS Perception you can find how to do a person tracker.

In that case, we are using a laser scan to detect the legs of a person. Also we are using the camera to detect the upper body.

In your case you are using a kinect. I suspect you are not using a laser. Then, in order to apply the algorithms of the Unit 6, you need to use the following:

  1. Use the kinect point cloud to create a 'fake' laser reading. You can do this by following the instructions of this video: https://youtu.be/IFNikTHN1pk

Once you have this fake laser, use it for the leg detector

  1. Use the kinect included camera to do the upper body detection as explained in the tutorial.

If you are doing this in a real robot with a real kinect, then you need to install the openni package (https://wiki.ros.org/openni_kinect) that allows you to get data from the kinect in the for of pointcloud and camera images (it is the ROS driver for a kinect).

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answered 20 Mar, 09:48

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question asked: 07 Mar, 12:54

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last updated: 20 Mar, 09:48

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