PCL Developers blog

Koen Buys

email:koen dot buys @ mech dot kuleuven dot be
project:Implenting People detection algorithm in PCL and extend with estimator/tracking
mentor:Anatoly Baksheev

About me

I’m currently a PhD student at the University of Leuven doing research on people detection and tracking and I’m currently also a GSOC mentor. I have a master in embedded electronics - ICT. I interned at Willow Garage last year to develop a human detection algorithm after the implementation of J. Shotton.

Big part of this project will be integrating my past work in human detection into the trunk of PCL. For the code sprint I will expand this with a estimator algoritm taking care of the temporal consistency. Also the training code will be converted into PCL.

Recent status updates

Final report and code committed
Friday, March 01, 2013
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Last two weeks I’ve finished the NPP implementation of the Haar Cascade detector, it is now fully ported to PCL. I’ve included Alex Trevor his organized multi-plane segmentation to people api as well, so that people can do background subtraction based on the planes found in the image. This week I wrote the final report summarizing the work done as well as how to use the module.

XML interface for people
Wednesday, June 20, 2012
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I’ve added an XML interface to load/save person specific configuration files. The generic XML file is also saved in trunk. This will allow people to tune the kinematic chain according to themselfs to improve on the tracking results. This XML interface is currently already in the process of beeing extended to an v0.2 which will also include the directed acyclic graph (DAG) description of the kinematic chain tree, allowing users to reconfigure this and place the root at a different position. The XML interface is now part of the PersonAttribs class and in the examples can be used with the -XML tag. For the summer I’ll have a student to help me with the training process as we now got access to the AWS cluster to enhance our training facilities. We will also be looking into training on GPU. If anybody has good knowledge about how to achieve this (RDF training in CUDA) and is willing to point this out to me or to help out, please send me an email!

Face detection in PCL
Tuesday, June 19, 2012
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I’ve added the FaceDetector class framework and committed it, in the back I’ve also started porting the NPP face detector implementation from Nvidia to PCL. However as there is still some uncertainty on the license of this. I’m currently waiting for a reply from Nvidia before I will commit it to trunk. This includes a GPU Viola Jones implementation from Anton Obukhov, “Haar Classifiers for Object Detection with CUDA” explained in the GPU Computing Gems book.

Gaussian kernel convolution
Sunday, June 17, 2012
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I’ve added a GPU Gaussian kernel convolution, this allows to add a system model to the human in order to have sensor fusion on the pixel labels. The prediction step will make use of the Gaussian uncertainty. I’ve also added the Gaussian kernel generation function.

Label histograms finished and working great
Monday, June 11, 2012
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I’ve finished the probabilistic label histograms in the people library, these are now part of the RDF detector class and will be added to the future detector classes as well, this will allow for easy probabilistic merging of the different detectors in order to improve the tracking results. Downside is that calculating them actually takes a lot of time, so I will look into doing them in NPP in the future and reorganising them from AOS to SOA architecture. With the SOA beeing image oriented.