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feat(perception): person re-identification — track individuals across camera views using appearance features #322

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opened 2026-03-03 00:42:45 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-03 00:42:45 -05:00
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Create a ROS2 node that subscribes to detected person bounding boxes from /saltybot/detected_persons and camera images. Extract simple appearance features (color histogram of torso region, aspect ratio) and maintain a gallery of known persons. Publish /saltybot/person_tracks (custom PersonTrack msg with track_id, confidence, last_seen timestamp). Use cosine similarity on HSV histograms for matching. Include timeout for stale tracks (30s default).

Create a ROS2 node that subscribes to detected person bounding boxes from /saltybot/detected_persons and camera images. Extract simple appearance features (color histogram of torso region, aspect ratio) and maintain a gallery of known persons. Publish /saltybot/person_tracks (custom PersonTrack msg with track_id, confidence, last_seen timestamp). Use cosine similarity on HSV histograms for matching. Include timeout for stale tracks (30s default).
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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#322
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