Moving objects detection from stereo images

This contains ROS packages to detect moving objects from stereo images.

Prerequisite

Hardware

• NVIDIA GPU

• Xbox 360 Controller

  To move a camera and a moving object in Gazebo simulator.

  This can be replaced with other controller supported by joy package. But maybe change of key assignment is needed.

Software

• Docker

• Docker Compose

• NVIDIA Container Toolkit

• nvidia-docker2

  nvidia-docker2 is deprecated now but it is needed to use Docker Compose with NVIDIA GPU.

Build

$ git clone https://github.com/ActiveIntelligentSystemsLab/moving_object_detector.git
$ cd moving_object_detector/docker
$ sudo docker-compose build
$ sudo docker-compose up --no-start

How to use

Start containers

Launch below commands at moving_object_detector/docker directory:

$ xhost +local:root
$ sudo docker-compose start

Then four containers are launched:

• ROS master
• RViz
• rqt
• Terminal
  • To run nodes and commands, edit files
  • Installed tools: byobu(tmux), gdb, htop and vim

Detection with Gazebo simulator

Plug Xbox controller before start containers and run below command in the container terminal:

$ roslaunch moving_object_detector_launch gazebo_sim.launch

Then open new terminal tab (or use byobu) and run below command:

$ roslaunch moving_object_detector_launch detect_with_gazebo.launch

Move stereo camera by A+Left stick and move an object by A+Right stick.

Detection with ZED Stereo Camera

Plug ZED before start containers and run below command in the container terminal:

$ roslaunch moving_object_detector_launch detect_with_gazebo.launch

Stop containers

$ sudo docker-compose stop

contained packages

• disparity_image_proc

  Small library to process stereo_msgs/DisparityImage

• moving_object_detector_launch

  Launch files

• moving_object_msgs

  Message definition represents moving objects

• moving_object_to_marker

  Convert moving_object_msgs to visualization_msgs/MarkerArray to visualize by RViz

• moving_object_tracker

  Track moving objects by Kalman filter

• scene_flow_constructor

  Construct scene flow from camera transform, disparity image and optical flow

• scene_flow_clusterer

  Clustering scene flow and each clusters are treated as moving objects

• kkl

  Kalman filter library written by Kenji Koide.

• viso2_stereo_server

  Provide service which estimate camera motion from stereo image