YACT: Yet Another Crowd Tracker

This repository contains the ROS nodes for tracking and calculating the trajectories of humans in a crowd, for use in my Final Year Project.

Node: yact_node

The node depends on the detections of people/person objects from the yolo detector.

Submodules:

• SORT

  • Based off abewley's implementation of the SORT algorithm

• Deep SORT

  • Deep SORT was a major improvement to the basic SORT algorithm.

  • Better tracking of objects due to feature generation of Bounding Boxes as well as using a learned cosine distance as a metric to compare tracked objects to new detections.

  • Based off nwojke's implementation.

    • Modified to run on tensorflow-gpu==1.4.0 (CUDA 8.0 and cuDNN6 on Ubuntu 16.04).

  • Youtube Video

Openpose

• Also depends on openpose, but my god is that a pain to setup. I didn't include it as a submodule because you should just follow the tutorial online for that. Goodluck though. Remove people_direction if you dont want to bother with OpenPose.

Custom Messages

Open the src/fyp_yact/msg folder to see the custom messages:

• BoundingBox

  Contains the individual detections.

  string Class
  float64 probability
  int64 xmin
  int64 ymin
  int64 xmax
  int64 ymax
  

• CompressedImageAndBoundingBoxes

  Contains the list of detections.

  Header header
  string format
  uint8[] data
  BoundingBox[] bounding_boxes
  

• BoundingBoxDirection

  Bounding Box and Direction pair

  BoundingBox boundingbox
  bool directionTowardsCamera
  

• DetectionAndDirection

  List of BoundingBoxDirection

  Header header
  BoundingBoxDirection[] detections
  

• BoundingBoxID

  Bounding Box and ID pair

  BoundingBox boundingBox
  int64 id
  

• DetectionAndID

  List of BoundingBoxID

  Header header
  BoundingBoxID[] detections
  

Topics

Subscribed Topics

• /yolo_detector/output/compresseddetections ([fyp_yact::CompressedImageAndBoundingBoxes])

  Subscribe to the compressed image topic from the Hololens in the JPEG format and the detections from YOLO.

Published Topics

• /yact/output/detectiondirections ([fyp_yact::DetectionAndDirection])

  Publishes a list of Detection Bounding Boxes and Direction pairs.

• /yact/output/detectiondids ([fyp_yact::DetectionAndID])

  Publishes a list of Detection Bounding Boxes and DeepSort ID pairs.