seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

[P1] Multi-person tracker — group handling + follow target priority #423

New Issue
Closed
opened 2026-03-04 23:30:07 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-04 23:30:07 -05:00
Collaborator
Copy Link

Goal

Extend person tracking to handle multiple people simultaneously, with intelligent target selection for follow-me mode.

Requirements

  • Track up to 10 people simultaneously with unique IDs
  • Publish /saltybot/tracked_persons (PersonArray.msg: id, bbox, distance, velocity, is_target)
  • Target selection priority: 1) wake-word speaker (audio direction), 2) closest known person, 3) largest bbox
  • Handoff: if target is occluded >3s, search nearby, dont immediately switch
  • Re-identification: face embedding + HSV histogram matching across frames
  • Group detection: if target is in a group (multiple people close together), follow group centroid
  • Lost target behavior: stop, rotate slowly, publish SEARCHING state
  • Performance: must maintain 15+ fps on Orin with up to 10 tracked persons

Depends On

  • Person tracking (#363 merged)
  • Follow-me controller (#366 merged)
## Goal Extend person tracking to handle multiple people simultaneously, with intelligent target selection for follow-me mode. ## Requirements - Track up to 10 people simultaneously with unique IDs - Publish /saltybot/tracked_persons (PersonArray.msg: id, bbox, distance, velocity, is_target) - Target selection priority: 1) wake-word speaker (audio direction), 2) closest known person, 3) largest bbox - Handoff: if target is occluded >3s, search nearby, dont immediately switch - Re-identification: face embedding + HSV histogram matching across frames - Group detection: if target is in a group (multiple people close together), follow group centroid - Lost target behavior: stop, rotate slowly, publish SEARCHING state - Performance: must maintain 15+ fps on Orin with up to 10 tracked persons ## Depends On - Person tracking (#363 merged) - Follow-me controller (#366 merged)
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#423
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?