Publication

ROS wrapper for real-time multi-person pose estimation with a single camera

Technical Report (2017)

IRI code

IRI-TR-17-02

File

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Abstract

For robots to be deployable in human occupied environments, the robots must have human-awareness and generate human-aware behaviors and policies. OpenPose is a library for real-time multi-person keypoint detection. We have considered the implementation of a ROS package that would allow the estimation of 2d pose from simple RGB images, for which we have introduced a ROS wrapper that automatically recovers the pose of several people from a single camera using OpenPose. Additionally, a ROS node to obtain 3d pose estimation from the initial 2d pose estimation when a depth image is synchronized with the RGB image (RGB-D image, such as with a Kinect camera) has been developed. This aim is attained projecting the 2d pose estimation onto the point-cloud of the depth image.

Categories

robots.

Scientific reference

M. Arduengo, F. Moreno-Noguer and G. Alenyà. ROS wrapper for real-time multi-person pose estimation with a single camera. Technical Report IRI-TR-17-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2017.