Implement multi-person tracking with:
- Track up to 10 people with persistent unique IDs
- Target priority: wake-word speaker > closest known > largest bbox
- Occlusion handoff with 3-second grace period
- Re-ID via face embedding (cosine similarity) + HSV color histogram
- Group detection and centroid calculation
- Lost target behavior: stop + rotate + SEARCHING state
- 15+ fps on Jetson Orin Nano Super
- PersonArray message publishing with active target tracking
- Configurable similarity thresholds and grace periods
- Unit tests for tracking, matching, priority, and re-ID
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-perception
31cfb9dcb9