This repository includes the ROS implemenatation of the event-based feature tracking algorithm described in the paper "Asynchronous Event-Based Clustering and Tracking for Intrusion Monitoring in UAS".
In case you use this code, please cite the following publication:
Juan Pablo Rodríguez-Gómez, Augusto Gómez Eguíluz, Jose Ramiro Martínez De-Dios and Anibal Ollero. "Asynchronous Event-Based Clustering and Tracking for Intrusion Monitoring in UAS." IEEE International Conference on Robotics and Automation (ICRA), 2020.
@inproceedings{rodriguez2020asynchronous,
author={J. P. {Rodríguez-Gomez} and A. G. {Eguíluz} and J. R. {Martínez-de Dios} and A. {Ollero}},
booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
title={Asynchronous event-based clustering and tracking for intrusion monitoring in UAS},
year={2020},
volume={},
number={},
pages={8518-8524},
doi={10.1109/ICRA40945.2020.9197341}}
Clone the repository to your ROS workspace (e.g ~/catkin_ws/src)
$ git https://github.com/grvcPerception/grvc_ef_tracker.git
$ catkin build grvc_ef_tracker
$ source ~/catkin_ws/devel/setup.bash
The package includes a wrapper as example to use the tracker algorithm. The wrapper receives input features using the dvs_msgs/EventArray message format. Try the tracker by connecting your DAVIS camera and running the feature generator of your preference (e.g. corner events). Then type:
$ roslaunch grvc_ef_tracker tracker_test.launch feature_topic:= $(feature_topic)
This code is released under MIT license
We constantly work to improve algorithm performance and code reliability. For additional information please contact Juan Pablo Rodriguez Gomez jrodriguezg@us.es