Multi target people tracker for mobile robots. It uses multiple detector modalities, it is based on particle filtering and outputs a set of nearby people positions.

Although the inputs are configurable, currently it uses:

• Laser-based leg detections
• Monocular vision body detections (bounding box, bearing)
• Monocular vision face detections (3D thanks to eye distance detection)
• Depth camera 3D body detections
• Odometry

For further instructions (installation, tags, etc) check the [pipol_tracker wiki] (https://github.com/beta-robots/pipol_tracker/wiki).