Multi-Modal People Tracking Setup on the Robot Sample Clauses

Multi-Modal People Tracking Setup on the Robot. On the robot platform, we run the front laser detector, the front upper-body RGB-D detector, the front HOG detector, and the fusion-related nodes on a single laptop. Likewise, the detectors for the rear-oriented sensors are executed on the second laptop, as well as the people tracking system itself. The lower RGB-D sensor on each side is tilted downwards and currently only used for close-range collision avoidance. Since all components, including the laser-based segmentation as a pre-processing step, are implemented as individual ROS nodes, they are separate system processes and therefore automatically make full use of modern multi-core CPUs.
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