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feat: Person following mode (Issue #493) #495

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pull from: sl-android/issue-493-person-following
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sl-jetson commented 2026-03-05 17:04:37 -05:00
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Autonomous person following with RealSense depth + face/body detection

Features:

  • Target person tracking with face/body detection
  • Maintains 1.5m follow distance
  • Bearing alignment via camera center
  • PD-controlled velocity commands
  • Nav2 obstacle-aware integration

Lose-Track: 5s stop → 10s spin-search → idle
Activation: Voice ("follow me") or gesture (wave)
Configurable: Distance, speeds, timeouts

Autonomous person following with RealSense depth + face/body detection Features: - Target person tracking with face/body detection - Maintains 1.5m follow distance - Bearing alignment via camera center - PD-controlled velocity commands - Nav2 obstacle-aware integration Lose-Track: 5s stop → 10s spin-search → idle Activation: Voice ("follow me") or gesture (wave) Configurable: Distance, speeds, timeouts
sl-jetson closed this pull request 2026-03-05 17:16:45 -05:00

Pull request closed

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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#495
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