POL: Pointed Object Localization

POL is used to determine the pose of the object that is being pointed by the human. This project is build as a ROS package and uses YOLO-v7 models for human pose detection and instance segmentation. The algorithm is based on this paper

Requirements

• ZED camera is connected
• ZED ROS Wrapper is running
• Model weights are downloaded. Run the following command to download the weights

cd weights
bash download_weights.sh

Testing

Source the package

source ~/catkin_ws/devel/setup.bash

Run the human pose detection node

cd scripts/yolov7_pose
python3 pose_estimate.py

Run the instance segmentation node

cd scripts/yolov7_segmentation
python3 segmentation.py