CSC325 Final Project

Person Tracker and Follower

• Detects human in image
• Follows human when they move away from the robot past a certain distance

Dependencies

• opencv
• rospy
• numpy
• imutils
• cv_bridge

Usage

• Start roscore on desktop PC
• ssh ubuntu@turtlebot3_xx.union.edu to log in to turtlebot
• Start sensors and bringup on turtlebot by running:

roslaunch turtlebot3_bringup turtlebot3_robot.launch

• Start camera on turtlebot by running:

roslaunch turtlebot3_autorace_camera raspberry_pi_camera_publish.launch

• Start detection, tracking and follower by running the following code on the desktop terminal:

python main.py

File Structure

Videos

• detect_track.mp4: Video of detection of person and tracking the detection in image
• following.mp4: Video of robot following the detected person in frame (moving towards detected person)

Code Files

• main.py: Main file that initializes and calls the other algorithms
• following.py: Code implementing the algorithm for following the detected person/object
• img_process.py: Code implementing object detection (person detection in this case) and other image preprocessing methods
• initial_test_detect.py: File containing some inital tests to see which detection algorithm works better