In this repo we publish the code for the paper:
3D Semantic Scene Perception using Distributed Smart Edge Sensors
Simon Bultmann and Sven Behnke:
3D Semantic Scene Perception using Distributed Smart Edge Sensors
17th International Conference on Intelligent Autonomous Systems (IAS), Zagreb, Croatia, June 2022.
The code was tested with ROS melodic and Ubuntu 18.04.
The pose_prior package depends on the gtsam library.
You can install it as follows (outside of catkin workspace)
git clone https://github.com/borglab/gtsam.git
cd gtsam
git checkout tags/4.0.3
mkdir build
cd build
cmake ..
make
sudo make install
Clone this repo inside your catkin workspace:
cd catkin_ws/src
git clone https://github.com/AIS-Bonn/SmartEdgeSensor3DScenePerception.git
cd ..
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release
source devel/setup.bash
Get the sample data from here (PW: aciwxjKTEz).
Start rqt with the included perspective pose_hall.perspective.
Start rviz with the included perspective pose_hall.rviz.\
Here, the map is pre-computed in the bag file; 8 persons are in the scene.
Run the launchfile: roslaunch pose_prior demo.launch.
Playback the bag file: rosbag play sampleData1.bag.
Here, the map will be computed online from the semantic clouds of the individual sensors; 2-3 persons are in the scene.
Run the launchfile: roslaunch pose_prior demo_map.launch.
Playback the bag file: rosbag play sampleData2.bag.
The 2D poses are rendered in the rqt window (joints occluded in the resp. camera view are marked in orange) and the estimated 3D skeletons and semantic map displayed in rviz, as in the pictures below.
Note: Enough processing power is needed to process the 20 camera views and 8 people in real time. If a lot of warnings about "Large frame delay..." occur, try playing back the bag-file in reduced speed.
We use code from other open-source software libraries in our implementation:
The skeleton_3d package extends parts of the OpenPose 3D library for multi-view triangulation.
Cao, Zhe, et al. "OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields." IEEE Transactions on Pattern Analysis and Machine Intelligence 43.1 (2019): 172-186.
The multi-person data association is based on: Tanke, Julian, and Juergen Gall. "Iterative Greedy Matching for 3D Human Pose Tracking from Multiple Views." German Conference on Pattern Recognition, 2019.
We use a public implementation of the Hungarian algorithm from https://github.com/mcximing/hungarian-algorithm-cpp.