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This repo contains a ROS package that computes 3D poses given an array of 2D (image frame) OpenPose detections

C++ wrapper for the mediapipe library capable of loading most graphs.

Multi-modal ROS-based people detection and tracking framework for mobile robots developed within the context of the EU FP7 project SPENCER.

ROS node to extract cluster from Pointclouds and publish them as Spencer Person detections.

Generic ROS navigation related launch and configuration files

Simulation worlds and meshes for Gazebo simulator

Navigation maps package, with 2D map images normally generated with Gmapping and used by map_server package.

Generic navigation, costmap and planner modules to be used as a base for robot specific navigation modules.

ROS package to estimate the depth of the mediapipe skeleton from known average human body distances.

ROS IRI module to handle the head tracking using information from any skeleton provided by the Mediapipe ROS node.

ROS node to transform the YOLO detections into Spencer people tracking detections and estimate their depth using the LIDAR info.

ROS node to transform the YOLO detections into Spencer people tracking detections.

This project uses the resulting segmentation masks from YOLOV8 along a LiDAR to create semantic landmarks that are to be fed to a estimation backend.

Set of communication libraries, including simple RS232, CAN, sockets (both in server and client modes) and others.