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homeskies / uw_common

Skills and non-robot dependent code
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Localize all people in sight wrt map #13

Open nickswalker opened 4 years ago

nickswalker commented 4 years ago

In receptionist "the robot must point at a place or location where the guest can sit". We can annotate all possible places to sit, it's more about making sure that we don't point at a place that's already occupied. In order to do this, we need to detect where the people are on the map. OpenPose or YOLO -> pull points from depth cam, transform to map frame is a reasonable first pass at this.

mjyc commented 4 years ago

Not sure how well OpenPose works, but I thought TensorFlow's PoseNet was working well https://www.tensorflow.org/lite/models/pose_estimation/overview. It integrates well with javascript ecosystem (npm) but probably not as well with ROS ecosystem.