Pedestrian Intent To Enter Road

Maintained by Pranav Boyapati

Overview

A ROS Node that identifies pedestrians in the scene, determines the direction they are facing and their distance to the road, and uses this information to classify whether a pedestrian will be entering the road.

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In:

• /cameras/camera0 Image
  • Receives an image taken by the front camera.
• /segmentation_mask Image
  • Receives a binary mask image that corresponds to the image taken by the front camera.

Out:

• /pedestrians PedestrianInfoDetections
  • Publishes an array of pedestrian detections.

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image_callback(self, msg: Image)

Takes in a camera image as input and stores it for use by other parts of the node.

binary_mask_callback(self, msg: Image)

Takes in a binary mask image as input and stores it for use by other parts of the node.

detect_pedestrians(self)

Identifies pedestrians in the scene, determines the direction they are facing, uses the calculate_horizontal_distance() method, and then publishes the results of each pedestrian detection.

calculate_horizontal_distance(self, bounding_box_coordinates, direction_facing)

Calculates the distance between the pedestrian and the road to determine intent of entering the road.