First I've developed a platform for advertising and subscribing a topic from a rosbag which contains sensor_msgs/LaserScan. Them I am applying several Distance-Based Segmentation Algorithms to find out how many objects exist at the time of the scan:
- Simple Segmentation
- Dietmayer Segmentation
- Adaptative Breakpoint Detector
- Multivariable Segmentation - Cosine distance based
At the moment, none of these algorithms by themselves solves any of the main Tracking Problems such as shape change or occlusions.
After i do the segmentation, i represent the results on a rviz plataform. For each scan, each cluster is represented by a different color and as an id:
At the moment i am still trying do improve the implementation Multivariable Segmentation because until now it is showing very poor results.