Human Detector for ROS 2

ROS Projects
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Human Detector for ROS 2

I present to you my next ROS 2 project. The following ROS 2 package utilizes MediaPipe and depth images to detect the position of a human in the x, y, and z coordinates. Once the detection node identifies a human, it publishes a transform to represent the detected human.

Results

The package provides the following results. A visible point cloud is included solely for visualization purposes and is not an integral part of the package.

image
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The package has been successfully tested with the RealSense D435i camera along with the corresponding Gazebo classic plugin.

You can access the package here: Human Detector Package

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This is great. Have you done an evaluation on precision and recall?

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I have actually not conducted any detailed testing yet. Initially, the package was a part of a larger project called “human follower,” which integrated nav2 configured for Dynamic Object Following and a human detector as a detection module. The precision achieved was good enough for this.

Additionally, I have performed static tests, yielding a precision of 5 cm. However, this result may not be representative.

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I’ve uploaded video with real-world results.
Can be checked here: https://www.youtube.com/shorts/ipi0YBVcLmg

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