Perception system for a voice-controlled Husky

Overview

A robot that takes voice commands still has to know where the person giving them is. That makes human detection and tracking the front end of the system.

For this Robot Autonomy course project I developed a human detection and tracking package in ROS. It runs on the Clearpath Husky mobile robot platform.

The package combines three sensors: a camera, a Velodyne lidar and a Hokuyo line scanner. Each contributes a different view of the person near the robot.

Tools

ROS, Velodyne lidar, Hokuyo line scanner, camera.