Multihypothesis Segmentation Tracking

This is the public code release for the Multihypothesis Segmentation Tracking algorithm. Documentation and dependency cleanup is still a work in progress, but please create an issue if you're interesting in using the code and encounter difficulty.

Related Repositories

• SceneCut Segmentation
• Shape Completion
• SiamMask Tracker

Project Structure

Prerequisites

• Linux
• ROS
• OpenCV
• PCL
• Octomap

Demo

Download and Compile

cd ~/PATH_TO_LOCAL_ROS_WS/src
git clone git@github.com:UM-ARM-Lab/multihypothesis_segmentation_tracking.git
cd ../ & catkin_make

Run MCMC Segmentation Sampler on stored example SceneCut output

roscore
rosrun mps_voxels demo_seg_sample

Run Hypotheses Merger on stored tracking and measurements

Start up a ROS core and open up RViz so you can see the merging results.

roscore
rosrun mps_voxels demo_resample