ROS package for pedestrian detection using Histograms of Oriented Gradients (HOG). The package subscribes to an image and uses OpenCV's trained HOG detector. The image containing the bounding box and its coordinates are published in real time through different topics.

• ROS melodic or higher
• OpenCV

Clone the repository to the workspace source path.

user@hostname:~/workspace/src$ git clone https://github.com/JHermosillaD/hog.git

Compile the package.

user@hostname:~/workspace$ catkin_make

Edit file launch/body.launch by the appropriate value of parameter /camera_topic according to the name of the used image topic ‼️

Run the launcher.

user@hostname:~/workspace$ roslaunch hog detect_body.launch

The image containing the bounding box can be displayed in Rviz, the coordinates through topic /hog/bounding_box.