tanrye/online_learning

Online learning for human classification in 3D LiDAR-based tracking

Online learning for human classification in 3D LiDAR-based tracking

This is a ROS-based online learning framework for human classification in 3D LiDAR scans, taking advantage of robust multi-target tracking to avoid the need for data annotation by a human expert. Please watch the videos below for more details.

For a standalone implementation of the clustering method, please refer to: https://github.com/yzrobot/adaptive_clustering

How to build

$ cd ~/catkin_ws/src/
$ git clone https://github.com/yzrobot/online_learning.git
$ cd ~/catkin_ws
$ catkin_make

Citation

If you are considering using this code, please reference the following:

@inproceedings{yz17iros,
   author = {Zhi Yan and Tom Duckett and Nicola Bellotto},
   title = {Online learning for human classification in {3D LiDAR-based} tracking},
   booktitle = {In Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   pages = {864--871},
   address = {Vancouver, Canada},
   month = {September},
   year = {2017}
}