README.md

Model Team Documentation

Pipeline Overview

The model team is responsible for the tracking of people (PEV riders) infront of the drone.

• The pipeline starts by feeding the drone's camera information to the kestrel_vision ROS2 package.
• kestrel_vision contains vision_node.py, which creates the ROS2 node that subscribes to the camera, runs YOLO and our CNN, and publishes these detections (bounding box + feature embeddings).
• Next, kestrel_tracking contains tracking_node.py, which similarly creates the node that subscribes to the vision node's detections, and begins tracking them. This involves initiating a TrackManager and publishing the associated Tracks.

Pipeline Specifics

kestrel_vision

ROS Topics/Services

Key Parameters

Debug Checklist