This repository includes the ROS implemenatation of the event-based clustering algorithm described in the paper "Asynchronous Event-Based Clustering and Tracking for Intrusion Monitoring in UAS".
In case you use this code, please cite the following publication:
Juan Pablo Rodríguez-Gómez, Augusto Gómez Eguíluz, Jose Ramiro Martínez De-Dios and Anibal Ollero. "Asynchronous Event-Based Clustering and Tracking for Intrusion Monitoring in UAS." IEEE International Conference on Robotics and Automation (ICRA), 2020.
@inproceedings{rodriguez2020asynchronous,
title={Asynchronous Event-Based Clustering and Tracking for Intrusion Monitoring in UAS},
author={Rodr\'{i}guez-G\'{o}mez, Juan Pablo and G\'{o}mez Egu\'{i}luz, Augusto and Martinez De-Dios, Jose Ramiro and Ollero, Anibal},
booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
year={2020},
organization={IEEE}}
Clone the repository to your ROS workspace (e.g ~/catkin_ws/src)
$ git https://github.com/grvcPerception/grvc_e_clustering.git
$ catkin build grvc_e_clustering
$ source ~/catkin_ws/devel/setup.bash
The package includes a wrapper as example to use the tracker algorithm. The wrapper receives the input using the dvs_msgs/EventArray message format. To try the clustering, connect your camera and run the driver. Then type:
$ roslaunch grvc_e_clustering test_aeclustering.launch
This code is released under MIT license
We constantly work to improve algorithm performance and code reliability. For additional information please contact Augusto Gomez Eguiluz ageguiluz@us.es