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feat(perception): Face landmark smoothing — temporal Kalman filter on 68-point landmarks #227

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opened 2026-03-02 11:58:12 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:58:12 -05:00
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Single ROS2 node. Subscribe to /social/faces/detections (raw landmarks). Apply per-person 68-point Kalman filter (constant velocity model) to smooth jittery landmark positions. Republish smoothed landmarks on /social/faces/landmarks_smooth at same rate. Configurable process_noise and measurement_noise. Include unit tests.

Single ROS2 node. Subscribe to /social/faces/detections (raw landmarks). Apply per-person 68-point Kalman filter (constant velocity model) to smooth jittery landmark positions. Republish smoothed landmarks on /social/faces/landmarks_smooth at same rate. Configurable process_noise and measurement_noise. 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#227
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