search

yzrobot / online_learning

[ROS package] Online Learning for Human Detection in 3D Point Clouds
GNU General Public License v3.0
156 stars 70 forks source link

Trajectory not found and UKF question #24

Closed minghaohsu410168 closed 10 months ago

minghaohsu410168 commented 3 years ago

Hello,

Thank you for the awesome work, I am try to reimplement the repo, but I have some question and want to ask, please give me some advise, thank you.

  1. I run the repo with my VLP 16 LiDAR and run the roslaunch object3d_detector object3d_detector.launch. I have successfully dectected the human, but I can't get the human trajectory. I don't know where is the error. The following picture is the running screen, the rostopic list and rosrun rqt_graph rqt_graph.

Screenshot from 2021-05-20 15-59-17 Screenshot from 2021-05-20 15-48-40 rqt

  1. How is the UKF works? It just use the position (x, y) get from LiDAR or how to get the velocity value from LiDAR sensor?

Thank you for your help. Best Regards.

yzrobot commented 3 years ago

Hi, we actually get the object velocity from the tracker instead of directly from the lidar data. And the tracker obtains the 2D position (x,y) of the object from the detector.