/msl_raptor

ROS implementation of the back-end of MSL-RAPTOR. It can be used to track 6DoF poses with consecutive 2D angled bounding box measurements.

Primary LanguageC++OtherNOASSERTION

MSL-RAPTOR ROS implementation

This repository contains a C++ ROS implementation of the back-end of MSL-RAPTOR.

This implementation is based on MSL-RAPTOR-Backend by Benjamin Ramtoula.

multi_tracker is the frontend and multi_tracker_msgs is the message type for communication of the angled bounding box arrays.

The documentation for the different parameters can be found in the original project.

Citation

If you find this work helpful, please consider citing the original paper.

@inproceedings{MSL-RAPTOR2021,
  address   = {Cham},
  author    = {Ramtoula, Benjamin
               and Caccavale, Adam
               and Beltrame, Giovanni
               and Schwager, Mac},
  booktitle = {Experimental Robotics},
  editor    = {Siciliano, Bruno
               and Laschi, Cecilia
               and Khatib, Oussama},
  isbn      = {978-3-030-71151-1},
  pages     = {520--532},
  publisher = {Springer International Publishing},
  title     = {MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception},
  year      = {2021}
}

Contact

For any questions, please email me at theo.gieruc@gmail.com