This is a ROS package that implements a leg detector from a LaserScan message, and publish the position of humans in a PoseArray message.
This code is based on the work described in:
Bellotto, N.; Huosheng Hu, "Multisensor-Based Human Detection and Tracking for Mobile Service Robots," Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on , vol.39, no.1, pp.167,181, Feb. 2009 doi: 10.1109/TSMCB.2008.2004050
Run this package by typing
roslaunch edge_leg_detector edge_leg_detector.launch [laser_scan:=/scan]
where laser_scan is the scanner topic at which the laser message is
published.