A SOFTARE PACKAGE for MULTIMODAL SINGLE OBJECT TRACKING for the OPERATION of an UNMANNED ROBOTIC PLATFORM in the "FOLLOW me" MODE

Student: Artem Deryavskiy

Faculty: St. Petersburg School of Physics, Mathematics, and Computer Science

Educational Programme: Machine Learning and Data Analysis (Master)

Year of Graduation: 2024

As part of this work, the tasks of developing a prototype software package for tracking the leading object ("leader") for the operation of the existing unmanned robotic platform in the "Follow me" mode were solved. In the course of the work, calibration procedures were carried out for cameras, lidar-lidar and lidar-camera systems. A number of ROS 2 packages have been implemented that are necessary for the operation of the software package. As part of the implementation of the visual tracking module, a comparative analysis of tracking models on the image of a single object was carried out, taking into account the available computing power. Algorithms for determining the coordinates and direction of a waypoint are proposed. The implementation of a socket linking the waypoint detection module, the operator panel and the navigator from the Nav2 navigation stack is described and initiated. A minimal prototype of the operator panel for the management and control of the tracking complex has been implemented.

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