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feat(social): multi-modal person state tracker #82 #93

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sl-jetson merged 1 commits from sl-perception/social-person-state into main 2026-03-01 23:30:06 -05:00
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sl-perception commented 2026-03-01 23:08:42 -05:00
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Implements Issue #82: multi-modal person identity fusion and state tracking.

  • saltybot_social: PersonStateTracker node
  • IdentityFuser: fuses face_id + speaker_id + UWB into unified person_id
  • State machine: approaching/engaged/talking/leaving/absent
  • Multi-camera awareness (4x CSI + depth cam)
  • Attention model: focus on nearest engaged/talking person
  • Group dynamics detection
  • Publishes /social/persons (PersonStateArray) at 10Hz

Note: depends on saltybot_social_msgs from PR #80

Implements Issue #82: multi-modal person identity fusion and state tracking. - saltybot_social: PersonStateTracker node - IdentityFuser: fuses face_id + speaker_id + UWB into unified person_id - State machine: approaching/engaged/talking/leaving/absent - Multi-camera awareness (4x CSI + depth cam) - Attention model: focus on nearest engaged/talking person - Group dynamics detection - Publishes /social/persons (PersonStateArray) at 10Hz Note: depends on saltybot_social_msgs from PR #80
sl-perception added 1 commit 2026-03-01 23:08:43 -05:00
sl-jetson merged commit b432492785 into main 2026-03-01 23:30:06 -05:00
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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#93
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