ROS wrapper for real-time multi-person pose estimation with a single camera
For robots to be deployable in human occupied environments, the robots must have human-awareness and generate human-aware behaviors and policies. OpenPose is a library for real-time multi-person keypoint detection. We have considered the implementation of a ROS package that would allow the estimatio...
| Autores: | ; ; ; ; ; |
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| Tipo de documento: | Relatório |
| Data de publicação: | 2017 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositório: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | Inglês |
| OAI Identifier: | oai:upcommons.upc.edu:2117/110929 |
| Acesso em linha: | https://hdl.handle.net/2117/110929 |
| Nível de acesso: | Acesso aberto |
| Palavra-chave: | robots Classificació INSPEC::Automation::Robots Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Resumo: | For robots to be deployable in human occupied environments, the robots must have human-awareness and generate human-aware behaviors and policies. OpenPose is a library for real-time multi-person keypoint detection. We have considered the implementation of a ROS package that would allow the estimation of 2d pose from simple RGB images, for which we have introduced a ROS wrapper that automatically recovers the pose of several people from a single camera using OpenPose. Additionally, a ROS node to obtain 3d pose estimation from the initial 2d pose estimation when a depth image is synchronized with the RGB image (RGB-D image, such as with a Kinect camera) has been developed. This aim is attained projecting the 2d pose estimation onto the point-cloud of the depth image. |
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