{"id":19526640,"url":"https://github.com/zju-fast-lab/fast-dynamic-vision","last_synced_at":"2025-04-26T10:31:28.815Z","repository":{"id":43083545,"uuid":"344796410","full_name":"ZJU-FAST-Lab/FAST-Dynamic-Vision","owner":"ZJU-FAST-Lab","description":"Detecting and Tracking Dynamic Objects with Event and Depth Sensing","archived":false,"fork":false,"pushed_at":"2021-11-13T10:56:27.000Z","size":31578,"stargazers_count":135,"open_issues_count":5,"forks_count":33,"subscribers_count":10,"default_branch":"main","last_synced_at":"2025-04-04T11:37:24.493Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ZJU-FAST-Lab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2021-03-05T11:57:11.000Z","updated_at":"2025-02-22T08:14:18.000Z","dependencies_parsed_at":"2022-09-19T17:44:49.324Z","dependency_job_id":null,"html_url":"https://github.com/ZJU-FAST-Lab/FAST-Dynamic-Vision","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FFAST-Dynamic-Vision","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FFAST-Dynamic-Vision/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FFAST-Dynamic-Vision/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FFAST-Dynamic-Vision/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ZJU-FAST-Lab","download_url":"https://codeload.github.com/ZJU-FAST-Lab/FAST-Dynamic-Vision/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":250972812,"owners_count":21516429,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-11T01:11:11.169Z","updated_at":"2025-04-26T10:31:23.802Z","avatar_url":"https://github.com/ZJU-FAST-Lab.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# FAST-Dynamic-Vision\n\n**FAST-Dynamic-Vision** is a system for detection and tracking dynamic objects with event and depth sensing.\n\n## 0. Overview\n\n**FAST-Dynamic-Vision** is a detection and trajectory estimation algorithm based on event and depth camera.\n\n**Related Paper**: [FAST-Dynamic-Vision: Detection and Tracking Dynamic Objects with Event and Depth Sensing](https://arxiv.org/abs/2103.05903), Botao He, Haojia Li, Siyuan Wu, Dong Wang, Zhiwei Zhang, Qianli Dong, Chao Xu, Fei Gao\n\n**Video Links**: [YouTube](https://www.youtube.com/watch?v=QPpwppeE_x0\u0026ab_channel=FeiGao), [Bilibili](https://www.bilibili.com/video/BV11U4y1p7EF/)\n\n![avoidance](figs/howering_avoidance.gif)\n![avoidance](figs/moving_avoidance_720p.gif)\n\n## 1. File Structure\n\n- **event-detector**: Key modules with event processing, depth estimation, motion compensation and object detection.\n- **bullet_traj**: modules for trajectory estimation in 3D world frame.\n\n## 2. Setup\n\n**Requirement**: Ubuntu 18.04 with ros-desktop-full installation; [**Ceres Solver**](http://ceres-solver.org/installation.html); OpenCV 3; [opencv_contrib](https://github.com/opencv/opencv_contrib)\n\n\u003e NOTION: If you are using Ubuntu 20.04 and failed to build this project with some linking error, please edit `CMakeLists.txt` and specify `OpenCV 4` .\n\n**Step 1**: Installation\n\n```\nsudo apt install libeigen3-dev build-essential libopencv-contrib-dev\n```\n\n**Step 2**: Clone the thie repo\n```\ngit clone https://github.com/ZJU-FAST-Lab/FAST-Dynamic-Vision.git --branch=main\n```\n\n**Step 3**: build this project\n```\ncd FAST-Dynamic-Vision\ncatkin_make\n```\n\n## 3. Run a simple demo\n\nPlease clone branch `dataset` to use our demo dataset. It was recorded via **DVXplorer**, which provides 640x480 resolution.\n\n### 3.1 Event-based motion compensation and object detection\n\nThis demo shows the performance of object detection and tracking algorithms.\n\n```\nsource devel/setup.bash\nroslaunch detector detection.launch\n```\n\n### 3.2 Moving ball trajectory estimation under motion-cap system\n\nThis demo shows detect and estimate the 3D trajectory of a throwing ball utilizing event and depth camera. The ground truth of the ball trajectory is captured by Vicon Motion Capture system.\n\n```\nsource devel/setup.bash\nroslaunch bullet_traj_est demo_traj_est_rviz.launch\n```\n\n\n![img](figs/test_demo.gif)\n\n\n## 4. Licence\nThe source code is released under [GPLv3](http://www.gnu.org/licenses/) license.\n\n## 5. Maintaince\n\nFor any technical issues, please contact Haojia Li([hlied@connect.ust.hk](mailto:hlied@connect.ust.hk)), Botao He([botao.he@njit.edu.cn](mailto:botao.he@njit.edu.cn)), Siyuan Wu ([siyuanwu99@gmail.com](mailto:siyuanwu99@gmail.com)), or Fei GAO ([fgaoaa@zju.edu.cn](mailto:fgaoaa@zju.edu.cn)).\n\nFor commercial inquiries, please contact Fei GAO ([fgaoaa@zju.edu.cn](mailto:fgaoaa@zju.edu.cn)).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Ffast-dynamic-vision","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzju-fast-lab%2Ffast-dynamic-vision","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Ffast-dynamic-vision/lists"}