ros2_object_analytics
A ROS2 wrapper for real-time object detection, 3D localization, and tracking using RGB-D camera inputs.
What is ros2_object_analytics?
Object Analytics (OA) is a ROS2 wrapper module for real-time object detection, localization, and tracking. It processes RGB-D camera inputs to enable advanced robotics features like intelligent collision avoidance and people following by publishing object tracking in 2D images and localization in 3D camera coordinates.
ROS2 developers and robotics engineers building perception systems for robots that require real-time object analysis, such as those working on autonomous navigation, surveillance, or interactive robotics.
It provides a ready-to-use, integrated ROS2 solution that combines multiple state-of-the-art tracking algorithms and 3D localization, simplifying the development of complex robotics perception pipelines compared to building from scratch.
Overview
Object Analytics (OA) is a ROS2 module designed to provide real-time object analyses over RGB-D camera inputs. It enables robotics developers to create advanced features like intelligent collision avoidance, people following, and semantic SLAM by processing 2D images and 3D point cloud data. The module subscribes to object detection topics and publishes tracking and localization data.
Key Features
- Real-time Object Tracking — Tracks objects in 2D RGB images using integrated algorithms like KCF, TLD, and GOTURN.
- 3D Object Localization — Locates objects in 3D camera coordinate systems using point cloud data.
- RGB-D Camera Integration — Consumes sensor_msgs::Image and sensor_msgs::PointCloud2 data from RGB-D cameras.
- Modular Launch Configuration — Supports launching tracking, localization, or both features via customizable launch files.
- Performance Validation Tools — Includes tools like tracker_regression for precision and recall statistics on tracking algorithms.
Philosophy
Object Analytics aims to integrate state-of-the-art algorithms into a cohesive ROS2 wrapper, making advanced robotics perception accessible and performant for developers.
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