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feat(perception): Person re-identification — appearance embedding for cross-camera tracking #201

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opened 2026-03-02 11:12:49 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:12:49 -05:00
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Single ROS2 node. Subscribe to /social/faces/detections + CSI camera images. Extract 128-dim appearance embedding per detected person using MobileNetV2 torso crop. Publish PersonAppearance.msg (person_id, embedding[], last_camera, confidence) on /saltybot/person_reid at 5Hz. Match across cameras using cosine similarity threshold. Include unit tests.

Single ROS2 node. Subscribe to /social/faces/detections + CSI camera images. Extract 128-dim appearance embedding per detected person using MobileNetV2 torso crop. Publish PersonAppearance.msg (person_id, embedding[], last_camera, confidence) on /saltybot/person_reid at 5Hz. Match across cameras using cosine similarity threshold. Include unit tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#201
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