According to my understanding, please correct me if I'm wrong, everything that moves in an indoor office environment or even AAF is a human or operated by a human. Even if it is a bed or a wheelchair, if it is moved by a human, it's better to treat it as a human than treat it as an object. To this end, I'll try to make a simple detector that clusters laser beams according to the jump distance and uses the mos relation from the qsr_lib to determine if the cluster moves (maybe I'll just include the mos classification directly instead of using the library to speed it up and reduce dependencies but you get the gist). If it does move, it is a human. This should help with the creation of tracks when the humans are far away as the leg detector needs quite some time to create a hypothesis and leg candidates. If it doesn't move, than hopefully the other detectors will pick it up if it's close to the robot. If it's not close to the robot and doesn't move, it will most likely also not interact with the robot in the first place.
If anyone thinks this is a bad idea, please speak now or forever hold your peace.
According to my understanding, please correct me if I'm wrong, everything that moves in an indoor office environment or even AAF is a human or operated by a human. Even if it is a bed or a wheelchair, if it is moved by a human, it's better to treat it as a human than treat it as an object. To this end, I'll try to make a simple detector that clusters laser beams according to the jump distance and uses the
mosrelation from theqsr_libto determine if the cluster moves (maybe I'll just include themosclassification directly instead of using the library to speed it up and reduce dependencies but you get the gist). If it does move, it is a human. This should help with the creation of tracks when the humans are far away as the leg detector needs quite some time to create a hypothesis and leg candidates. If it doesn't move, than hopefully the other detectors will pick it up if it's close to the robot. If it's not close to the robot and doesn't move, it will most likely also not interact with the robot in the first place.If anyone thinks this is a bad idea, please speak now or forever hold your peace.