embedded-software-laboratory / ssl-vehicle-tracking Goto Github PK

SSL Vehicle Tracking

Towards a comprehensive package for roadside vehicle tracking.
Explore the project »

View Demo · Department · Institution

This project is a ROS2 implementation of a tracking algorithm that can detect and track vehicles on a pressure-sensitive road surface. We developed this approach as a proof of concept in our paper [1], demonstrating that the road surface itself can be used as a data source for vehicle localization. In addition to the algorithm, the package also provides a visualization tool.

(back to top)

This tool is built with the colcon command line interface like any other ROS2 package. Instructions are found here.

(back to top)

The tracking pipeline needs a topic of type OccupancyGridMap. An example of a launch file can be found in the package ssl_vehicle_tracking. The provided RVIZ packages are automatically detected.

(back to top)

Distributed under the MIT License. See LICENSE.txt for more information.

(back to top)

We acknowledge the financial support for this project by the Collaborative Research Center / Transregio 339 of the German Research Foundation (DFG).

• ROS2
• Stone Soup
• Open CV
• scikit-image
• Readme Template

(back to top)

• [1] S. Schäfer, H. Steidl, S. Kowalewski and B. Alrifaee, "Investigating a Pressure Sensitive Surface Layer for Vehicle Localization," 2023 IEEE Intelligent Vehicles Symposium (IV), Anchorage, AK, USA, 2023, pp. 1-6, doi: 10.1109/IV55152.2023.10186582.