diff --git a/README.md b/README.md
index d77adfcf..d21c26e9 100644
--- a/README.md
+++ b/README.md
@@ -68,17 +68,17 @@ Currently, the inference feature list is supported:
 - Face Detection:
 ```/ros_openvino_toolkit/face_detection```([object_msgs::ObjectsInBoxes](https://github.com/intel/object_msgs/blob/master/msg/ObjectsInBoxes.msg))
 - Emotion Recognition:
-```/ros_openvino_toolkit/emotions_recognition```([people_msgs::EmotionsStamped](https://github.com/intel/ros_openvino_toolkit/blob/master/people_msgs/msg/EmotionsStamped.msg))
+```/ros_openvino_toolkit/emotions_recognition```([vino_people_msgs::EmotionsStamped](https://github.com/intel/ros_openvino_toolkit/blob/master/vino_people_msgs/msg/EmotionsStamped.msg))
 - Age and Gender Recognition:
-```/ros_openvino_toolkit/age_genders_Recognition```([people_msgs::AgeGenderStamped](https://github.com/intel/ros_openvino_toolkit/blob/master/people_msgs/msg/AgeGenderStamped.msg))
+```/ros_openvino_toolkit/age_genders_Recognition```([vino_people_msgs::AgeGenderStamped](https://github.com/intel/ros_openvino_toolkit/blob/master/vino_people_msgs/msg/AgeGenderStamped.msg))
 - Head Pose Estimation:
-```/ros_openvino_toolkit/headposes_estimation```([people_msgs::HeadPoseStamped](https://github.com/intel/ros_openvino_toolkit/blob/master/people_msgs/msg/HeadPoseStamped.msg))
+```/ros_openvino_toolkit/headposes_estimation```([vino_people_msgs::HeadPoseStamped](https://github.com/intel/ros_openvino_toolkit/blob/master/vino_people_msgs/msg/HeadPoseStamped.msg))
 - Object Detection:
 ```/ros_openvino_toolkit/detected_objects```([object_msgs::ObjectsInBoxes](https://github.com/intel/object_msgs/blob/master/msg/ObjectsInBoxes.msg))
 - Object Segmentation:
-```/ros_openvino_toolkit/segmented_obejcts```([people_msgs::ObjectsInMasks](https://github.com/intel/ros_openvino_toolkit/blob/devel/people_msgs/msg/ObjectsInMasks.msg))
+```/ros_openvino_toolkit/segmented_obejcts```([vino_people_msgs::ObjectsInMasks](https://github.com/intel/ros_openvino_toolkit/blob/devel/vino_people_msgs/msg/ObjectsInMasks.msg))
 - Person Reidentification:
-```/ros_openvino_toolkit/reidentified_persons```([people_msgs::ReidentificationStamped](https://github.com/intel/ros_openvino_toolkit/blob/devel/people_msgs/msg/ReidentificationStamped.msg))
+```/ros_openvino_toolkit/reidentified_persons```([vino_people_msgs::ReidentificationStamped](https://github.com/intel/ros_openvino_toolkit/blob/devel/vino_people_msgs/msg/ReidentificationStamped.msg))
 - Rviz Output:
 ```/ros_openvino_toolkit/image_rviz```([sensor_msgs::Image](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html))
 
@@ -88,11 +88,11 @@ Currently, the inference feature list is supported:
 - Face Detection Service:
 ```/detect_face``` ([object_msgs::DetectObject](https://github.com/intel/object_msgs/blob/master/srv/DetectObject.srv))
 - Age & Gender Detection Service:
-```/detect_age_gender``` ([people_msgs::AgeGender](https://github.com/intel/ros_openvino_toolkit/blob/master/people_msgs/srv/AgeGenderSrv.srv))
+```/detect_age_gender``` ([vino_people_msgs::AgeGender](https://github.com/intel/ros_openvino_toolkit/blob/master/vino_people_msgs/srv/AgeGenderSrv.srv))
 - Headpose Detection Service:
-```/detect_head_pose``` ([people_msgs::HeadPose](https://github.com/intel/ros_openvino_toolkit/blob/master/people_msgs/srv/HeadPoseSrv.srv))
+```/detect_head_pose``` ([vino_people_msgs::HeadPose](https://github.com/intel/ros_openvino_toolkit/blob/master/vino_people_msgs/srv/HeadPoseSrv.srv))
 - Emotion Detection Service:
-```/detect_emotion``` ([people_msgs::Emotion](https://github.com/intel/ros_openvino_toolkit/blob/master/people_msgs/srv/EmotionSrv.srv))
+```/detect_emotion``` ([vino_people_msgs::Emotion](https://github.com/intel/ros_openvino_toolkit/blob/master/vino_people_msgs/srv/EmotionSrv.srv))
 
 
 ### RViz
@@ -249,7 +249,7 @@ One-step installation scripts are provided for the dependencies' installation. P
 	```
   Run example application with an absolute path of an image on another console:
 	```bash
-	rosrun dynamic_vino_sample image_object_client ~/catkin_ws/src/ros_openvino_toolkit/data/images/car.png
+	rosrun vino_sample image_object_client ~/catkin_ws/src/ros_openvino_toolkit/data/images/car.png
 	```
 * run face detection service sample code input from Image  
   Run image processing service:
@@ -258,7 +258,7 @@ One-step installation scripts are provided for the dependencies' installation. P
 	```
   Run example application with an absolute path of an image on another console:
 	```bash
-	rosrun dynamic_vino_sample image_people_client ~/catkin_ws/src/ros_openvino_toolkit/data/images/team.jpg
+	rosrun vino_sample image_people_client ~/catkin_ws/src/ros_openvino_toolkit/data/images/team.jpg
 	```
 # TODO Features
 * Support **result filtering** for inference process, so that the inference results can be filtered to different subsidiary inference. For example, given an image, firstly we do Object Detection on it, secondly we pass cars to vehicle brand recognition and pass license plate to license number recognition.
diff --git a/doc/BINARY_VERSION_README.md b/doc/BINARY_VERSION_README.md
index f4d731c8..2bb115e1 100644
--- a/doc/BINARY_VERSION_README.md
+++ b/doc/BINARY_VERSION_README.md
@@ -177,7 +177,7 @@ sudo ln -s ~/catkin_ws/src/ros_openvino_toolkit /opt/openvino_toolkit/ros_openvi
 	```bash
 	roslaunch vino_launch pipeline_image.launch
 	```
-* run object detection sample code input from RealSenseCamera.(connect Intel® Neural Compute Stick 2)
+* run object detection sample code input from RealSenseCamera.
 	```bash
 	roslaunch vino_launch pipeline_object.launch
 	```
@@ -185,7 +185,7 @@ sudo ln -s ~/catkin_ws/src/ros_openvino_toolkit /opt/openvino_toolkit/ros_openvi
 	```bash
 	roslaunch vino_launch pipeline_object_topic.launch
 	```
-* run object segmentation sample code input from RealSenseCameraTopic.(connect Intel® Neural Compute Stick 2)
+* run object segmentation sample code input from RealSenseCameraTopic.
 	```bash
 	roslaunch vino_launch pipeline_segmentation.launch
 	```
@@ -204,7 +204,7 @@ sudo ln -s ~/catkin_ws/src/ros_openvino_toolkit /opt/openvino_toolkit/ros_openvi
 	```
   Run example application with an absolute path of an image on another console:
 	```bash
-	rosrun dynamic_vino_sample image_object_client ~/catkin_ws/src/ros_openvino_toolkit/data/images/car.png
+	rosrun vino_sample image_object_client ~/catkin_ws/src/ros_openvino_toolkit/data/images/car.png
 	```
 * run people detection service sample code input from Image  
   Run image processing service:
@@ -213,7 +213,7 @@ sudo ln -s ~/catkin_ws/src/ros_openvino_toolkit /opt/openvino_toolkit/ros_openvi
 	```
   Run example application with an absolute path of an image on another console:
 	```bash
-	rosrun dynamic_vino_sample image_people_client ~/catkin_ws/src/ros_openvino_toolkit/data/images/team.jpg
+	rosrun vino_sample image_people_client ~/catkin_ws/src/ros_openvino_toolkit/data/images/team.jpg
 	```
 ## 6. Known Issues
 * Possible problems
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.h b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.h
deleted file mode 100644
index 3ce30e74..00000000
--- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.h
+++ /dev/null
@@ -1,86 +0,0 @@
-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/**
- * @brief A header file with declaration for RosTopicOutput Class
- * @file ros_topic_output.h
- */
-
-#ifndef DYNAMIC_VINO_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_
-#define DYNAMIC_VINO_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_
-
-#include <object_msgs/Object.h>
-#include <object_msgs/ObjectInBox.h>
-#include <object_msgs/ObjectsInBoxes.h>
-#include <people_msgs/Emotion.h>
-#include <people_msgs/EmotionsStamped.h>
-#include <people_msgs/AgeGender.h>
-#include <people_msgs/AgeGenderStamped.h>
-#include <people_msgs/HeadPose.h>
-#include <people_msgs/HeadPoseStamped.h>
-#include <people_msgs/ObjectInMask.h>
-#include <people_msgs/ObjectsInMasks.h>
-#include <people_msgs/Reidentification.h>
-#include <people_msgs/ReidentificationStamped.h>
-
-#include <people_msgs/AgeGenderSrv.h>
-#include <people_msgs/EmotionSrv.h>
-#include <people_msgs/HeadPoseSrv.h>
-#include <people_msgs/PeopleSrv.h>
-#include <object_msgs/DetectObject.h>
-#include <people_msgs/ObjectsInMasksSrv.h>
-#include <people_msgs/ReidentificationSrv.h>
-
-
-#include <std_msgs/Header.h>
-
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/outputs/ros_topic_output.h"
-
-namespace Outputs
-{
-/**
- * @class RosServiceOutput
- * @brief This class handles and publish the detection result for service calling.
- */
-class RosServiceOutput : public RosTopicOutput
-{
-public:
-  RosServiceOutput() {}
-
-  /**
-   * @brief Publish all the detected infomations generated by the accept
-   * functions with ros topic.
-   */
-  void handleOutput() override {}
-  void clearData();
-
-  void setServiceResponse(boost::shared_ptr<object_msgs::DetectObject::Response> response);
-  void setResponseForFace(boost::shared_ptr<object_msgs::DetectObject::Response> response);
-  void setServiceResponse(boost::shared_ptr<people_msgs::AgeGenderSrv::Response> response);
-  void setServiceResponse(boost::shared_ptr<people_msgs::EmotionSrv::Response> response);
-  void setServiceResponse(boost::shared_ptr<people_msgs::HeadPoseSrv::Response> response);
-  void setServiceResponse(boost::shared_ptr<people_msgs::PeopleSrv::Response> response);
-  void setServiceResponse(boost::shared_ptr<people_msgs::ObjectsInMasksSrv::Response> response);
-  void setServiceResponse(boost::shared_ptr<people_msgs::ReidentificationSrv::Response> response);
-
-private:
-  const std::string service_name_;
-};
-}  // namespace Outputs
-#endif  // DYNAMIC_VINO_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_
diff --git a/script/environment_setup.sh b/script/environment_setup.sh
index bcd0808a..903e7fb0 100755
--- a/script/environment_setup.sh
+++ b/script/environment_setup.sh
@@ -63,14 +63,13 @@ echo "Set OTHER_DEPENDENCY to $OTHER_DEPENDENCY"
 # Clean Existing Directories
 if [ "$CLEAN" == "1" ]; then
   read -n1 -p "The clean operation will delete some manually created directories,
-  including ~/code, ~/catkin_ws, /opt/intel, /opt/openvino_toolkit, and OpenVINO tar ball.
+  including ~/code, /opt/intel, /opt/openvino_toolkit, and OpenVINO tar ball.
   Do you want to clean existing directories[Y/N]?" answer
   case $answer in
         Y|y) echo
                 echo "===================Cleaning...===================================="
   		echo $ROOT_PASSWD | sudo -S rm -rf ~/code
   		echo $ROOT_PASSWD | sudo -S rm -rf /opt/intel
-  		rm -rf ~/catkin_ws
   		echo $ROOT_PASSWD | sudo -S rm -rf /opt/openvino_toolkit
   		if [[ $system_ver = "16.04" && -L "/usr/lib/x86_64-linux-gnu/libboost_python3.so" ]]; then
     			echo $ROOT_PASSWD | sudo -S rm /usr/lib/x86_64-linux-gnu/libboost_python3.so
diff --git a/script/environment_setup_binary.sh b/script/environment_setup_binary.sh
index d5d6e2cb..32d54e48 100755
--- a/script/environment_setup_binary.sh
+++ b/script/environment_setup_binary.sh
@@ -59,13 +59,12 @@ if [ "$CLEAN" == "1" ]; then
   echo "===================Clean Existing Directories...===================================="
 
   read -n1 -p "The clean operation will delete some manually created directories,
-  including ~/code, ~/catkin_ws, /opt/intel, /opt/openvino_toolkit, and OpenVINO tar ball.
+  including ~/code, /opt/intel, /opt/openvino_toolkit, and OpenVINO tar ball.
   Do you want to clean existing directories[Y/N]?" answer
   case $answer in
         Y|y) echo
                 echo "===================Cleaning...===================================="
   		echo $ROOT_PASSWD | sudo -S rm -rf ~/code
-  		rm -rf ~/catkin_ws
   		echo $ROOT_PASSWD | sudo -S rm -rf /opt/intel
   		echo $ROOT_PASSWD | sudo -S rm -rf /opt/openvino_toolkit
   		if [[ $system_ver = "16.04" && -L "/usr/lib/x86_64-linux-gnu/libboost_python3.so" ]]; then
diff --git a/skel-track-notes.md b/skel-track-notes.md
new file mode 100644
index 00000000..46a1b036
--- /dev/null
+++ b/skel-track-notes.md
@@ -0,0 +1,34 @@
+# Notes for Skeleton Tracking Package
+
+* Model URL: https://docs.openvinotoolkit.org/latest/_models_intel_human_pose_estimation_0001_description_human_pose_estimation_0001.html
+
+## Installation
+
+```bash
+$ cd /opt/openvino_toolkit/open_model_zoo/tools/downloader
+$ python3 downloader.py --name human-pose-estimation-0001
+```
+
+## Keypoints
+
+| Id | Keypoint Name |
+| -- | -- |
+| 0 | nose |
+| 1 | neck |
+| 2 | right shoulder |
+| 3 | right elbow |
+| 4 | right wrist |
+| 5 | left shoulder |
+| 6 | left elbow |
+| 7 | left wrist |
+| 8 | right hip |
+| 9 | right knee |
+| 10 | right ankle |
+| 11 | left hip |
+| 12 | left knee |
+| 13 | left ankle |
+| 14 | right eye |
+| 15 | left eye |
+| 16 | right ear |
+| 17 | left ear |
+
diff --git a/dynamic_vino_lib/CMakeLists.txt b/vino_core_lib/CMakeLists.txt
similarity index 97%
rename from dynamic_vino_lib/CMakeLists.txt
rename to vino_core_lib/CMakeLists.txt
index 86c0679f..eac9c900 100644
--- a/dynamic_vino_lib/CMakeLists.txt
+++ b/vino_core_lib/CMakeLists.txt
@@ -14,7 +14,7 @@
 
 cmake_minimum_required (VERSION 2.8.3)
 
-project(dynamic_vino_lib)
+project(vino_core_lib)
 
 message(STATUS "Looking for inference engine configuration file at: ${CMAKE_PREFIX_PATH}")
 find_package(InferenceEngine 1.1)
@@ -29,7 +29,7 @@ find_package(
   std_msgs
   sensor_msgs
   object_msgs
-  people_msgs
+  vino_people_msgs
   image_transport
   cv_bridge
   InferenceEngine
@@ -147,6 +147,8 @@ add_library(${PROJECT_NAME} SHARED
   src/inferences/object_detection.cpp
   src/inferences/object_segmentation.cpp
   src/inferences/person_reidentification.cpp
+  src/inferences/human_pose_estimation.cpp
+  src/inferences/peak.cpp
   src/inputs/realsense_camera.cpp
   src/inputs/realsense_camera_topic.cpp
   src/inputs/standard_camera.cpp
@@ -160,6 +162,7 @@ add_library(${PROJECT_NAME} SHARED
   src/models/object_detection_model.cpp
   src/models/object_segmentation_model.cpp
   src/models/person_reidentification_model.cpp
+  src/models/human_pose_estimation_model.cpp
   src/outputs/image_window_output.cpp
   src/outputs/ros_topic_output.cpp
   src/outputs/rviz_output.cpp
diff --git a/dynamic_vino_lib/Doxyfile b/vino_core_lib/Doxyfile
similarity index 100%
rename from dynamic_vino_lib/Doxyfile
rename to vino_core_lib/Doxyfile
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/args_helper.h b/vino_core_lib/include/vino_core_lib/args_helper.h
similarity index 100%
rename from dynamic_vino_lib/include/dynamic_vino_lib/args_helper.h
rename to vino_core_lib/include/vino_core_lib/args_helper.h
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/common.h b/vino_core_lib/include/vino_core_lib/common.h
similarity index 100%
rename from dynamic_vino_lib/include/dynamic_vino_lib/common.h
rename to vino_core_lib/include/vino_core_lib/common.h
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.h b/vino_core_lib/include/vino_core_lib/engines/engine.h
similarity index 90%
rename from dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.h
rename to vino_core_lib/include/vino_core_lib/engines/engine.h
index 5eb284a2..b548c395 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.h
+++ b/vino_core_lib/include/vino_core_lib/engines/engine.h
@@ -18,12 +18,12 @@
  * @brief A header file with declaration for NetworkEngine class
  * @file engine.h
  */
-#ifndef DYNAMIC_VINO_LIB_ENGINES_ENGINE_H
-#define DYNAMIC_VINO_LIB_ENGINES_ENGINE_H
+#ifndef VINO_CORE_LIB_ENGINES_ENGINE_H
+#define VINO_CORE_LIB_ENGINES_ENGINE_H
 
 #pragma once
 
-#include "dynamic_vino_lib/models/base_model.h"
+#include "vino_core_lib/models/base_model.h"
 #include "inference_engine.hpp"
 
 /**
@@ -65,4 +65,4 @@ class Engine
 };
 }  // namespace Engines
 
-#endif  // DYNAMIC_VINO_LIB_ENGINES_ENGINE_H
+#endif  // VINO_CORE_LIB_ENGINES_ENGINE_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/factory.h b/vino_core_lib/include/vino_core_lib/factory.h
similarity index 92%
rename from dynamic_vino_lib/include/dynamic_vino_lib/factory.h
rename to vino_core_lib/include/vino_core_lib/factory.h
index 98210efb..cc76fba4 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/factory.h
+++ b/vino_core_lib/include/vino_core_lib/factory.h
@@ -19,16 +19,16 @@
  * @file factory.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_FACTORY_H
-#define DYNAMIC_VINO_LIB_FACTORY_H
+#ifndef VINO_CORE_LIB_FACTORY_H
+#define VINO_CORE_LIB_FACTORY_H
 
 #include <inference_engine.hpp>
 
 #include <memory>
 #include <string>
 
-#include "dynamic_vino_lib/common.h"
-#include "dynamic_vino_lib/inputs/base_input.h"
+#include "vino_core_lib/common.h"
+#include "vino_core_lib/inputs/base_input.h"
 #include "extension/ext_list.hpp"
 
 /**
@@ -67,4 +67,4 @@ class Factory
       const std::string& custom_cldnn_message, bool performance_message);
 };
 
-#endif  // DYNAMIC_VINO_LIB_FACTORY_H
+#endif  // VINO_CORE_LIB_FACTORY_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.h b/vino_core_lib/include/vino_core_lib/inferences/age_gender_detection.h
similarity index 86%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.h
rename to vino_core_lib/include/vino_core_lib/inferences/age_gender_detection.h
index 6c1b2749..9b07496a 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.h
+++ b/vino_core_lib/include/vino_core_lib/inferences/age_gender_detection.h
@@ -18,16 +18,16 @@
  * @brief A header file with declaration for AgeGenderDetection Class
  * @file age_gender_recignition.h
  */
-#ifndef DYNAMIC_VINO_LIB_INFERENCES_AGE_GENDER_DETECTION_H
-#define DYNAMIC_VINO_LIB_INFERENCES_AGE_GENDER_DETECTION_H
+#ifndef VINO_CORE_LIB_INFERENCES_AGE_GENDER_DETECTION_H
+#define VINO_CORE_LIB_INFERENCES_AGE_GENDER_DETECTION_H
 
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/models/age_gender_detection_model.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/models/age_gender_detection_model.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
 
@@ -36,7 +36,7 @@ namespace Outputs
 class BaseOuput;
 }
 
-namespace dynamic_vino_lib
+namespace vino_core_lib
 {
 /**
  * @class AgeGenderResult
@@ -76,7 +76,7 @@ class AgeGenderResult : public Result
 class AgeGenderDetection : public BaseInference
 {
  public:
-  using Result = dynamic_vino_lib::AgeGenderResult;
+  using Result = vino_core_lib::AgeGenderResult;
   AgeGenderDetection();
   ~AgeGenderDetection() override;
   /**
@@ -114,7 +114,7 @@ class AgeGenderDetection : public BaseInference
    * to the frame generated by the input device.
    * @param[in] idx The index of the result.
    */
-  const dynamic_vino_lib::Result* getLocationResult(int idx) const override;
+  const vino_core_lib::Result* getLocationResult(int idx) const override;
   /**
    * @brief Get the name of the Inference instance.
    * @return The name of the Inference instance.
@@ -131,6 +131,6 @@ class AgeGenderDetection : public BaseInference
   std::shared_ptr<Models::AgeGenderDetectionModel> valid_model_;
   std::vector<Result> results_;
 };
-}  // namespace dynamic_vino_lib
+}  // namespace vino_core_lib
 
-#endif  // DYNAMIC_VINO_LIB_INFERENCES_AGE_GENDER_DETECTION_H
+#endif  // VINO_CORE_LIB_INFERENCES_AGE_GENDER_DETECTION_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.h b/vino_core_lib/include/vino_core_lib/inferences/base_inference.h
similarity index 92%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.h
rename to vino_core_lib/include/vino_core_lib/inferences/base_inference.h
index e2b569d9..2260de98 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.h
+++ b/vino_core_lib/include/vino_core_lib/inferences/base_inference.h
@@ -18,14 +18,14 @@
  * @brief A header file with declaration for BaseInference Class
  * @file base_inference.h
  */
-#ifndef DYNAMIC_VINO_LIB_INFERENCES_BASE_INFERENCE_H
-#define DYNAMIC_VINO_LIB_INFERENCES_BASE_INFERENCE_H
+#ifndef VINO_CORE_LIB_INFERENCES_BASE_INFERENCE_H
+#define VINO_CORE_LIB_INFERENCES_BASE_INFERENCE_H
 
 #include <memory>
 #include <string>
 
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/slog.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
 
@@ -73,7 +73,7 @@ void matU8ToBlob(const cv::Mat& orig_image, InferenceEngine::Blob::Ptr& blob,
   }
 }
 
-namespace dynamic_vino_lib
+namespace vino_core_lib
 {
 /**
  * @class Result
@@ -85,6 +85,7 @@ class Result
   friend class BaseInference;
   explicit Result(const cv::Rect& location);
   inline const cv::Rect getLocation() const { return location_; }
+  inline void setLocation(const cv::Rect& location) { location_ = location; }
 
  private:
   cv::Rect location_;
@@ -155,7 +156,7 @@ class BaseInference
    * to the frame generated by the input device.
    * @param[in] idx The index of the result.
    */
-  virtual const dynamic_vino_lib::Result* getLocationResult(int idx) const = 0;
+  virtual const vino_core_lib::Result* getLocationResult(int idx) const = 0;
   /**
    * @brief Get the name of the Inference instance.
    * @return The name of the Inference instance.
@@ -198,6 +199,6 @@ class BaseInference
   int enqueued_frames = 0;
   bool results_fetched_ = false;
 };
-}  // namespace dynamic_vino_lib
+}  // namespace vino_core_lib
 
-#endif  // DYNAMIC_VINO_LIB_INFERENCES_BASE_INFERENCE_H
+#endif  // VINO_CORE_LIB_INFERENCES_BASE_INFERENCE_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.h b/vino_core_lib/include/vino_core_lib/inferences/emotions_detection.h
similarity index 86%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.h
rename to vino_core_lib/include/vino_core_lib/inferences/emotions_detection.h
index bb4e1f29..f774dab5 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.h
+++ b/vino_core_lib/include/vino_core_lib/inferences/emotions_detection.h
@@ -18,16 +18,16 @@
  * @brief A header file with declaration for EmotionsDetection Class
  * @file emotions_detection.h
  */
-#ifndef DYNAMIC_VINO_LIB_INFERENCES_EMOTIONS_DETECTION_H
-#define DYNAMIC_VINO_LIB_INFERENCES_EMOTIONS_DETECTION_H
+#ifndef VINO_CORE_LIB_INFERENCES_EMOTIONS_DETECTION_H
+#define VINO_CORE_LIB_INFERENCES_EMOTIONS_DETECTION_H
 
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/models/emotion_detection_model.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/models/emotion_detection_model.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
 
@@ -35,7 +35,7 @@ namespace Outputs
 {
 class BaseOuput;
 }
-namespace dynamic_vino_lib
+namespace vino_core_lib
 {
 /**
  * @class EmotionResult
@@ -67,7 +67,7 @@ class EmotionsResult : public Result
 class EmotionsDetection : public BaseInference
 {
  public:
-  using Result = dynamic_vino_lib::EmotionsResult;
+  using Result = vino_core_lib::EmotionsResult;
   EmotionsDetection();
   ~EmotionsDetection() override;
   /**
@@ -105,7 +105,7 @@ class EmotionsDetection : public BaseInference
    * to the frame generated by the input device.
    * @param[in] idx The index of the result.
    */
-  const dynamic_vino_lib::Result* getLocationResult(int idx) const override;
+  const vino_core_lib::Result* getLocationResult(int idx) const override;
   /**
    * @brief Get the name of the Inference instance.
    * @return The name of the Inference instance.
@@ -122,6 +122,6 @@ class EmotionsDetection : public BaseInference
   std::shared_ptr<Models::EmotionDetectionModel> valid_model_;
   std::vector<Result> results_;
 };
-}  // namespace dynamic_vino_lib
+}  // namespace vino_core_lib
 
-#endif  // DYNAMIC_VINO_LIB_INFERENCES_EMOTIONS_DETECTION_H
+#endif  // VINO_CORE_LIB_INFERENCES_EMOTIONS_DETECTION_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.h b/vino_core_lib/include/vino_core_lib/inferences/face_detection.h
similarity index 87%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.h
rename to vino_core_lib/include/vino_core_lib/inferences/face_detection.h
index 7addb3a5..ef692f56 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.h
+++ b/vino_core_lib/include/vino_core_lib/inferences/face_detection.h
@@ -18,8 +18,8 @@
  * @brief A header file with declaration for FaceDetection Class
  * @file face_detection.h
  */
-#ifndef DYNAMIC_VINO_LIB_INFERENCES_FACE_DETECTION_H
-#define DYNAMIC_VINO_LIB_INFERENCES_FACE_DETECTION_H
+#ifndef VINO_CORE_LIB_INFERENCES_FACE_DETECTION_H
+#define VINO_CORE_LIB_INFERENCES_FACE_DETECTION_H
 
 #include <object_msgs/Object.h>
 #include <object_msgs/ObjectInBox.h>
@@ -30,14 +30,14 @@
 #include <string>
 #include <vector>
 
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/models/face_detection_model.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/models/face_detection_model.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
 
 // namespace
-namespace dynamic_vino_lib
+namespace vino_core_lib
 {
 /**
  * @class FaceDetectionResult
@@ -73,7 +73,7 @@ class FaceDetectionResult : public Result
 class FaceDetection : public BaseInference
 {
  public:
-  using Result = dynamic_vino_lib::FaceDetectionResult;
+  using Result = vino_core_lib::FaceDetectionResult;
   explicit FaceDetection(double);
   ~FaceDetection() override;
   /**
@@ -111,7 +111,7 @@ class FaceDetection : public BaseInference
    * to the frame generated by the input device.
    * @param[in] idx The index of the result.
    */
-  const dynamic_vino_lib::Result* getLocationResult(int idx) const override;
+  const vino_core_lib::Result* getLocationResult(int idx) const override;
   /**
    * @brief Show the observed detection result either through image window
      or ROS topic.
@@ -132,5 +132,5 @@ class FaceDetection : public BaseInference
   int object_size_;
   double show_output_thresh_ = 0;
 };
-}  // namespace dynamic_vino_lib
-#endif  // DYNAMIC_VINO_LIB_INFERENCES_FACE_DETECTION_H
+}  // namespace vino_core_lib
+#endif  // VINO_CORE_LIB_INFERENCES_FACE_DETECTION_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.h b/vino_core_lib/include/vino_core_lib/inferences/head_pose_detection.h
similarity index 87%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.h
rename to vino_core_lib/include/vino_core_lib/inferences/head_pose_detection.h
index 125d6207..87996a63 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.h
+++ b/vino_core_lib/include/vino_core_lib/inferences/head_pose_detection.h
@@ -18,20 +18,20 @@
  * @brief A header file with declaration for FaceDetection Class
  * @file head_pose_detection.h
  */
-#ifndef DYNAMIC_VINO_LIB_INFERENCES_HEAD_POSE_DETECTION_H
-#define DYNAMIC_VINO_LIB_INFERENCES_HEAD_POSE_DETECTION_H
+#ifndef VINO_CORE_LIB_INFERENCES_HEAD_POSE_DETECTION_H
+#define VINO_CORE_LIB_INFERENCES_HEAD_POSE_DETECTION_H
 
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/models/head_pose_detection_model.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/models/head_pose_detection_model.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
 
-namespace dynamic_vino_lib
+namespace vino_core_lib
 {
 /**
  * @class HeadPoseResult
@@ -80,7 +80,7 @@ class HeadPoseResult : public Result
 class HeadPoseDetection : public BaseInference
 {
  public:
-  using Result = dynamic_vino_lib::HeadPoseResult;
+  using Result = vino_core_lib::HeadPoseResult;
   HeadPoseDetection();
   ~HeadPoseDetection() override;
   /**
@@ -118,7 +118,7 @@ class HeadPoseDetection : public BaseInference
    * to the frame generated by the input device.
    * @param[in] idx The index of the result.
    */
-  const dynamic_vino_lib::Result* getLocationResult(int idx) const override;
+  const vino_core_lib::Result* getLocationResult(int idx) const override;
   /**
    * @brief Get the name of the Inference instance.
    * @return The name of the Inference instance.
@@ -135,5 +135,5 @@ class HeadPoseDetection : public BaseInference
   std::shared_ptr<Models::HeadPoseDetectionModel> valid_model_;
   std::vector<Result> results_;
 };
-}  // namespace dynamic_vino_lib
-#endif  // DYNAMIC_VINO_LIB_INFERENCES_HEAD_POSE_DETECTION_H
+}  // namespace vino_core_lib
+#endif  // VINO_CORE_LIB_INFERENCES_HEAD_POSE_DETECTION_H
diff --git a/vino_core_lib/include/vino_core_lib/inferences/human_pose_estimation.h b/vino_core_lib/include/vino_core_lib/inferences/human_pose_estimation.h
new file mode 100644
index 00000000..b1bd74e6
--- /dev/null
+++ b/vino_core_lib/include/vino_core_lib/inferences/human_pose_estimation.h
@@ -0,0 +1,215 @@
+// TODO add license
+
+/**
+ * @brief A header file with declaration for AgeGenderDetection Class
+ * @file human_pose_estimation.h
+ */
+#ifndef VINO_CORE_LIB_INFERENCES_HUMAN_POSE_ESTIMATION_H
+#define VINO_CORE_LIB_INFERENCES_HUMAN_POSE_ESTIMATION_H
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/models/human_pose_estimation_model.h"
+#include "inference_engine.hpp"
+#include "opencv2/opencv.hpp"
+
+namespace vino_core_lib
+{
+
+class HumanPoseKeypoint : public cv::Point2f
+{
+public:
+  HumanPoseKeypoint(float x, float y, float score)
+    : HumanPoseKeypoint::Point_(x, y),
+      score(score) {};
+  HumanPoseKeypoint(cv::Point2f point)
+    : HumanPoseKeypoint::Point_(point),
+      score(score) {};
+  float score;
+};
+
+/**
+ * @class HumanPoseResult
+ * @brief Class for storing and processing age and gender detection result.
+ */
+class HumanPoseResult : public Result
+{
+ public:
+  explicit HumanPoseResult(const cv::Rect& location);
+  HumanPoseResult(
+    const cv::Rect& location,
+    const std::vector<HumanPoseKeypoint>& keypoints, // = std::vector<cv::Point2f>(),
+    const float& score); // = 0);
+  
+  // Following similar structure of vino_core_lib/inferences/object_detection.h
+  // and human_pose_estimation_demo/src/human_pose_estimator.h
+
+  /**
+   * @brief Get the age keypoints of the estimated pose from the result.
+   * @return The estimated keypoints.
+   */
+  std::vector<HumanPoseKeypoint> getKeypoints() const
+  {
+    return keypoints;
+  }
+
+  /**
+   * @brief Get the score of the estimated pose from the result.
+   * @return The score of the estimation.
+   */
+  float getScore() const
+  {
+    return score;
+  }
+
+  std::vector<float> keypointsScores;
+  std::vector<HumanPoseKeypoint> keypoints;
+  float score = -1;
+};
+
+
+/**
+ * @class HumanPoseEstimation
+ * @brief Class to load the human pose estimation model and perform
+   human pose estimation.
+ */
+class HumanPoseEstimation : public BaseInference
+{
+ public:
+  using Result = vino_core_lib::HumanPoseResult;
+  HumanPoseEstimation(float minPeaksDistance,
+                      float midPointsScoreThreshold,
+                      float foundMidPointsRatioThreshold,
+                      int minJointsNumber,
+                      float minSubsetScore);
+  ~HumanPoseEstimation() override;
+  /**
+   * @brief Load the age gender detection model.
+   */
+  void loadNetwork(std::shared_ptr<Models::HumanPoseEstimationModel>);
+  /**
+   * @brief Enqueue a frame to this class.
+   * The frame will be buffered but not inferred yet.
+   * @param[in] frame The frame to be enqueued.
+   * @param[in] input_frame_loc The location of the enqueued frame with respect
+   * to the frame generated by the input device.
+   * @return Whether this operation is successful.
+   */
+  bool enqueue(const cv::Mat& frame, const cv::Rect&) override;
+  /**
+   * @brief Start inference for all buffered frames.
+   * @return Whether this operation is successful.
+   */
+  bool submitRequest() override;
+  /**
+   * @brief This function will fetch the results of the previous inference and
+   * stores the results in a result buffer array. All buffered frames will be
+   * cleared.
+   * @return Whether the Inference object fetches a result this time
+   */
+  bool fetchResults() override;
+  /**
+   * @brief Get the length of the buffer result array.
+   * @return The length of the buffer result array.
+   */
+  const int getResultsLength() const override;
+  /**
+   * @brief Get the location of result with respect
+   * to the frame generated by the input device.
+   * @param[in] idx The index of the result.
+   */
+  const vino_core_lib::Result* getLocationResult(int idx) const override;
+  /**
+   * @brief Get the name of the Inference instance.
+   * @return The name of the Inference instance.
+   */
+  const std::string getName() const override;
+  /**
+   * @brief Show the observed detection result either through image window
+   * or ROS topic.
+   */
+  const void observeOutput(
+      const std::shared_ptr<Outputs::BaseOutput>& output) override;
+
+ private:
+  /**
+   * @brief Processess the network's outputs to extract the valid poses.
+   * 
+   * Copied from: https://github.com/opencv/open_model_zoo/blob/master/demos/human_pose_estimation_demo/src/human_pose_estimator.cpp
+   * 
+   * @param heatMapsData Data outputted by the heatmap network.
+   * @param heatMapOffset Size of each heatmap result.
+   * @param nHeatMaps Number of keypoints.
+   * @param pafsData Data outputted by the PAF network.
+   * @param pafOffset Size of each PAF result.
+   * @param nPafs Numver of PAFs.
+   * @param featureMapWidth Width of the heatmap.
+   * @param featureMapHeight Height of the heatmap.
+   * @param imageSize Size of the input image.
+   * @return std::vector<Result> A vector with the detected poses.
+   */
+  std::vector<Result> postprocess(
+            const float* heatMapsData, const int heatMapOffset, const int nHeatMaps,
+            const float* pafsData, const int pafOffset, const int nPafs,
+            const int featureMapWidth, const int featureMapHeight,
+            const cv::Size& imageSize) const;
+  
+  /**
+   * @brief Resizes the heatmap by upSampleRatio.
+   * 
+   * @param featureMaps A vector with the heatmaps to resize.
+   */
+  void resizeFeatureMaps(std::vector<cv::Mat>& featureMaps) const;
+
+  /**
+   * @brief Extracts the poses from the given heatmaps and PAFs.
+   * 
+   * @param heatMaps Postprocessed heatmaps.
+   * @param pafs Postprocessed PAFs.
+   * @return std::vector<Result> The detected poses.
+   */
+  std::vector<Result> extractPoses(
+        const std::vector<cv::Mat>& heatMaps,
+        const std::vector<cv::Mat>& pafs) const;
+
+  /**
+   * @brief Aligns the poses' keypoints to the input image.
+   * 
+   * @param poses Poses (extracted from the heatmaps and PAFs).
+   * @param featureMapsSize  The size of the heatmaps.
+   * @param imageSize The input image size.
+   */
+  void correctCoordinates(std::vector<Result>& poses,
+                          const cv::Size& featureMapsSize,
+                          const cv::Size& imageSize) const;
+  
+  /**
+   * @brief Correct the bonding boxes based on the poses' keypoints.
+   * 
+   * @param poses Poses (with corrected keypoints).
+   */
+  void correctROI(std::vector<Result>& poses) const;
+
+  std::shared_ptr<Models::HumanPoseEstimationModel> valid_model_;
+  std::vector<Result> results_;
+  int width_ = 0;
+  int height_ = 0;
+
+  const size_t keypointsNumber_ = 18;
+  int upsampleRatio_;
+  float minPeaksDistance_;
+  float midPointsScoreThreshold_;
+  float foundMidPointsRatioThreshold_;
+  int minJointsNumber_;
+  float minSubsetScore_;
+  int stride_;
+  cv::Vec4i pad_;
+};
+
+} //  namespace vino_core_lib
+
+#endif  // VINO_CORE_LIB_INFERENCES_HUMAN_POSE_ESTIMATION_H
\ No newline at end of file
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.h b/vino_core_lib/include/vino_core_lib/inferences/object_detection.h
similarity index 87%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.h
rename to vino_core_lib/include/vino_core_lib/inferences/object_detection.h
index 6eb50efa..fa4c314d 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.h
+++ b/vino_core_lib/include/vino_core_lib/inferences/object_detection.h
@@ -17,21 +17,21 @@
  * @brief A header file with declaration for ObjectDetection Class
  * @file object_detection.hpp
  */
-#ifndef DYNAMIC_VINO_LIB_INFERENCES_OBJECT_DETECTION_H
-#define DYNAMIC_VINO_LIB_INFERENCES_OBJECT_DETECTION_H
+#ifndef VINO_CORE_LIB_INFERENCES_OBJECT_DETECTION_H
+#define VINO_CORE_LIB_INFERENCES_OBJECT_DETECTION_H
 #include <object_msgs/Object.h>
 #include <object_msgs/ObjectInBox.h>
 #include <object_msgs/ObjectsInBoxes.h>
 #include <memory>
 #include <vector>
 #include <string>
-#include "dynamic_vino_lib/models/object_detection_model.h"
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
+#include "vino_core_lib/models/object_detection_model.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/inferences/base_inference.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
 // namespace
-namespace dynamic_vino_lib {
+namespace vino_core_lib {
 /**
  * @class ObjectDetectionResult
  * @brief Class for storing and processing face detection result.
@@ -56,7 +56,7 @@ class ObjectDetectionResult : public Result {
  */
 class ObjectDetection : public BaseInference {
  public:
-  using Result = dynamic_vino_lib::ObjectDetectionResult;
+  using Result = vino_core_lib::ObjectDetectionResult;
   explicit ObjectDetection(bool,double);
   ~ObjectDetection() override;
   /**
@@ -94,7 +94,7 @@ class ObjectDetection : public BaseInference {
    * to the frame generated by the input device.
    * @param[in] idx The index of the result.
    */
-  const dynamic_vino_lib::Result* getLocationResult(int idx) const override;
+  const vino_core_lib::Result* getLocationResult(int idx) const override;
   /**
    * @brief Show the observed detection result either through image window
      or ROS topic.
@@ -114,5 +114,5 @@ class ObjectDetection : public BaseInference {
   int object_size_;
   double show_output_thresh_ = 0;
 };
-}  // namespace dynamic_vino_lib
-#endif  // DYNAMIC_VINO_LIB_INFERENCES_OBJECT_DETECTION_H
+}  // namespace vino_core_lib
+#endif  // VINO_CORE_LIB_INFERENCES_OBJECT_DETECTION_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.h b/vino_core_lib/include/vino_core_lib/inferences/object_segmentation.h
similarity index 86%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.h
rename to vino_core_lib/include/vino_core_lib/inferences/object_segmentation.h
index e6100e1a..29bfe805 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.h
+++ b/vino_core_lib/include/vino_core_lib/inferences/object_segmentation.h
@@ -16,21 +16,21 @@
  * @brief A header file with declaration for ObjectSegmentation Class
  * @file object_detection.hpp
  */
-#ifndef DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_
-#define DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_
+#ifndef VINO_CORE_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_
+#define VINO_CORE_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_
 #include <object_msgs/Object.h>
 #include <object_msgs/ObjectInBox.h>
 #include <object_msgs/ObjectInBox.h>
 #include <memory>
 #include <vector>
 #include <string>
-#include "dynamic_vino_lib/models/object_segmentation_model.h"
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
+#include "vino_core_lib/models/object_segmentation_model.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/inferences/base_inference.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
 // namespace
-namespace dynamic_vino_lib
+namespace vino_core_lib
 {
 /**
  * @class ObjectSegmentationResult
@@ -70,7 +70,7 @@ class ObjectSegmentationResult : public Result
 class ObjectSegmentation : public BaseInference
 {
 public:
-  using Result = dynamic_vino_lib::ObjectSegmentationResult;
+  using Result = vino_core_lib::ObjectSegmentationResult;
   explicit ObjectSegmentation(double);
   ~ObjectSegmentation() override;
   /**
@@ -108,7 +108,7 @@ class ObjectSegmentation : public BaseInference
    * to the frame generated by the input device.
    * @param[in] idx The index of the result.
    */
-  const dynamic_vino_lib::Result * getLocationResult(int idx) const override;
+  const vino_core_lib::Result * getLocationResult(int idx) const override;
   /**
    * @brief Show the observed detection result either through image window
      or ROS topic.
@@ -127,5 +127,5 @@ class ObjectSegmentation : public BaseInference
   int height_ = 0;
   double show_output_thresh_ = 0;
 };
-}  // namespace dynamic_vino_lib
-#endif  // DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_
+}  // namespace vino_core_lib
+#endif  // VINO_CORE_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_
diff --git a/vino_core_lib/include/vino_core_lib/inferences/peak.h b/vino_core_lib/include/vino_core_lib/inferences/peak.h
new file mode 100644
index 00000000..e0310ce8
--- /dev/null
+++ b/vino_core_lib/include/vino_core_lib/inferences/peak.h
@@ -0,0 +1,87 @@
+// Copyright (C) 2018-2019 Intel Corporation
+// SPDX-License-Identifier: Apache-2.0
+//
+
+#pragma once
+
+#include <vector>
+
+#include <opencv2/core/core.hpp>
+
+// #include "human_pose.hpp"
+#include "vino_core_lib/inferences/human_pose_estimation.h"
+
+namespace human_pose_estimation
+{
+
+using Result = vino_core_lib::HumanPoseResult;
+
+struct Peak
+{
+  Peak(const int id = -1,
+       const cv::Point2f &pos = cv::Point2f(),
+       const float score = 0.0f);
+
+  int id;
+  cv::Point2f pos;
+  float score;
+};
+
+struct HumanPoseByPeaksIndices
+{
+  explicit HumanPoseByPeaksIndices(const int keypointsNumber);
+
+  std::vector<int> peaksIndices;
+  int nJoints;
+  float score;
+};
+
+struct TwoJointsConnection
+{
+  TwoJointsConnection(const int firstJointIdx,
+                      const int secondJointIdx,
+                      const float score);
+
+  int firstJointIdx;
+  int secondJointIdx;
+  float score;
+};
+
+void findPeaks(const std::vector<cv::Mat> &heatMaps,
+               const float minPeaksDistance,
+               std::vector<std::vector<Peak>> &allPeaks,
+               int heatMapId);
+
+std::vector<Result> groupPeaksToPoses(
+    const std::vector<std::vector<Peak>> &allPeaks,
+    const std::vector<cv::Mat> &pafs,
+    const size_t keypointsNumber,
+    const float midPointsScoreThreshold,
+    const float foundMidPointsRatioThreshold,
+    const int minJointsNumber,
+    const float minSubsetScore);
+
+class FindPeaksBody : public cv::ParallelLoopBody
+{
+public:
+  FindPeaksBody(const std::vector<cv::Mat> &heatMaps, float minPeaksDistance,
+                std::vector<std::vector<Peak>> &peaksFromHeatMap)
+      : heatMaps(heatMaps),
+        minPeaksDistance(minPeaksDistance),
+        peaksFromHeatMap(peaksFromHeatMap) {}
+
+  virtual void operator()(const cv::Range &range) const
+  {
+    for (int i = range.start; i < range.end; i++)
+    {
+      findPeaks(heatMaps, minPeaksDistance, peaksFromHeatMap, i);
+    }
+  }
+
+private:
+  const std::vector<cv::Mat> &heatMaps;
+  float minPeaksDistance;
+  std::vector<std::vector<Peak>> &peaksFromHeatMap;
+};
+
+} // namespace human_pose_estimation
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.h b/vino_core_lib/include/vino_core_lib/inferences/person_reidentification.h
similarity index 86%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.h
rename to vino_core_lib/include/vino_core_lib/inferences/person_reidentification.h
index 72b9b7a0..7605b1ff 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.h
+++ b/vino_core_lib/include/vino_core_lib/inferences/person_reidentification.h
@@ -16,18 +16,18 @@
  * @brief A header file with declaration for PersonReidentification Class
  * @file person_reidentification.hpp
  */
-#ifndef DYNAMIC_VINO_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_
-#define DYNAMIC_VINO_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_
+#ifndef VINO_CORE_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_
+#define VINO_CORE_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_
 #include <memory>
 #include <vector>
 #include <string>
-#include "dynamic_vino_lib/models/person_reidentification_model.h"
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
+#include "vino_core_lib/models/person_reidentification_model.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/inferences/base_inference.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
 // namespace
-namespace dynamic_vino_lib
+namespace vino_core_lib
 {
 /**
  * @class PersonReidentificationResult
@@ -50,7 +50,7 @@ class PersonReidentificationResult : public Result
 class PersonReidentification : public BaseInference
 {
 public:
-  using Result = dynamic_vino_lib::PersonReidentificationResult;
+  using Result = vino_core_lib::PersonReidentificationResult;
   explicit PersonReidentification(double);
   ~PersonReidentification() override;
   /**
@@ -88,7 +88,7 @@ class PersonReidentification : public BaseInference
    * to the frame generated by the input device.
    * @param[in] idx The index of the result.
    */
-  const dynamic_vino_lib::Result * getLocationResult(int idx) const override;
+  const vino_core_lib::Result * getLocationResult(int idx) const override;
   /**
    * @brief Show the observed detection result either through image window
      or ROS topic.
@@ -118,5 +118,5 @@ class PersonReidentification : public BaseInference
   std::vector<std::vector<float>> recorded_persons_;
   double match_thresh_ = 0;
 };
-}  // namespace dynamic_vino_lib
-#endif  // DYNAMIC_VINO_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_
+}  // namespace vino_core_lib
+#endif  // VINO_CORE_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.h b/vino_core_lib/include/vino_core_lib/inputs/base_input.h
similarity index 95%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.h
rename to vino_core_lib/include/vino_core_lib/inputs/base_input.h
index e300fdee..54fab55f 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.h
+++ b/vino_core_lib/include/vino_core_lib/inputs/base_input.h
@@ -18,11 +18,11 @@
  * @brief A header file with declaration for BaseInput Class
  * @file base_input.h
  */
-#ifndef DYNAMIC_VINO_LIB_INPUTS_BASE_INPUT_H
-#define DYNAMIC_VINO_LIB_INPUTS_BASE_INPUT_H
+#ifndef VINO_CORE_LIB_INPUTS_BASE_INPUT_H
+#define VINO_CORE_LIB_INPUTS_BASE_INPUT_H
 
 #include <opencv2/opencv.hpp>
-#include "dynamic_vino_lib/inputs/ros_handler.h"
+#include "vino_core_lib/inputs/ros_handler.h"
 
 /**
  * @class BaseInputDevice
@@ -131,4 +131,4 @@ class BaseInputDevice : public Ros2Handler
   std::string frame_id_;
 };
 }  // namespace Input
-#endif  // DYNAMIC_VINO_LIB_INPUTS_BASE_INPUT_H
+#endif  // VINO_CORE_LIB_INPUTS_BASE_INPUT_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.h b/vino_core_lib/include/vino_core_lib/inputs/image_input.h
similarity index 90%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.h
rename to vino_core_lib/include/vino_core_lib/inputs/image_input.h
index afdbd619..536511e3 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.h
+++ b/vino_core_lib/include/vino_core_lib/inputs/image_input.h
@@ -18,12 +18,12 @@
  * @brief A header file with declaration for Image class
  * @file file_input.h
  */
-#ifndef DYNAMIC_VINO_LIB_INPUTS_IMAGE_INPUT_H
-#define DYNAMIC_VINO_LIB_INPUTS_IMAGE_INPUT_H
+#ifndef VINO_CORE_LIB_INPUTS_IMAGE_INPUT_H
+#define VINO_CORE_LIB_INPUTS_IMAGE_INPUT_H
 
 #include <opencv2/opencv.hpp>
 #include <string>
-#include "dynamic_vino_lib/inputs/base_input.h"
+#include "vino_core_lib/inputs/base_input.h"
 
 namespace Input
 {
@@ -72,4 +72,4 @@ class Image : public BaseInputDevice
 };
 }  // namespace Input
 
-#endif  // DYNAMIC_VINO_LIB_INPUTS_IMAGE_INPUT_H
+#endif  // VINO_CORE_LIB_INPUTS_IMAGE_INPUT_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.h b/vino_core_lib/include/vino_core_lib/inputs/realsense_camera.h
similarity index 90%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.h
rename to vino_core_lib/include/vino_core_lib/inputs/realsense_camera.h
index f4a87d0f..3e51690b 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.h
+++ b/vino_core_lib/include/vino_core_lib/inputs/realsense_camera.h
@@ -19,12 +19,12 @@
  * @file realsense_camera.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_INPUTS_REALSENSE_CAMERA_H
-#define DYNAMIC_VINO_LIB_INPUTS_REALSENSE_CAMERA_H
+#ifndef VINO_CORE_LIB_INPUTS_REALSENSE_CAMERA_H
+#define VINO_CORE_LIB_INPUTS_REALSENSE_CAMERA_H
 
 #include <librealsense2/rs.hpp>
 #include <opencv2/opencv.hpp>
-#include "dynamic_vino_lib/inputs/base_input.h"
+#include "vino_core_lib/inputs/base_input.h"
 
 namespace Input
 {
@@ -69,4 +69,4 @@ class RealSenseCamera : public BaseInputDevice
 };
 }  // namespace Input
 
-#endif  // DYNAMIC_VINO_LIB_INPUTS_REALSENSE_CAMERA_H
+#endif  // VINO_CORE_LIB_INPUTS_REALSENSE_CAMERA_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.h b/vino_core_lib/include/vino_core_lib/inputs/realsense_camera_topic.h
similarity index 87%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.h
rename to vino_core_lib/include/vino_core_lib/inputs/realsense_camera_topic.h
index 8d5fbf9d..a03f83d0 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.h
+++ b/vino_core_lib/include/vino_core_lib/inputs/realsense_camera_topic.h
@@ -19,8 +19,8 @@
  * @file realsense_camera.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_INPUTS_REALSENSE_CAMERA_TOPIC_H
-#define DYNAMIC_VINO_LIB_INPUTS_REALSENSE_CAMERA_TOPIC_H
+#ifndef VINO_CORE_LIB_INPUTS_REALSENSE_CAMERA_TOPIC_H
+#define VINO_CORE_LIB_INPUTS_REALSENSE_CAMERA_TOPIC_H
 
 #include <image_transport/image_transport.h>
 #include <nodelet/nodelet.h>
@@ -30,7 +30,7 @@
 
 #include <memory>
 
-#include "dynamic_vino_lib/inputs/base_input.h"
+#include "vino_core_lib/inputs/base_input.h"
 
 namespace Input
 {
@@ -64,4 +64,4 @@ class RealSenseCameraTopic : public BaseInputDevice
 };
 }  // namespace Input
 
-#endif  // DYNAMIC_VINO_LIB_INPUTS_REALSENSE_CAMERA_TOPIC_H_
+#endif  // VINO_CORE_LIB_INPUTS_REALSENSE_CAMERA_TOPIC_H_
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros_handler.h b/vino_core_lib/include/vino_core_lib/inputs/ros_handler.h
similarity index 100%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros_handler.h
rename to vino_core_lib/include/vino_core_lib/inputs/ros_handler.h
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.h b/vino_core_lib/include/vino_core_lib/inputs/standard_camera.h
similarity index 90%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.h
rename to vino_core_lib/include/vino_core_lib/inputs/standard_camera.h
index 8928a741..b6581625 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.h
+++ b/vino_core_lib/include/vino_core_lib/inputs/standard_camera.h
@@ -19,11 +19,11 @@
  * @file standard_camera.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_INPUTS_STANDARD_CAMERA_H
-#define DYNAMIC_VINO_LIB_INPUTS_STANDARD_CAMERA_H
+#ifndef VINO_CORE_LIB_INPUTS_STANDARD_CAMERA_H
+#define VINO_CORE_LIB_INPUTS_STANDARD_CAMERA_H
 
 #include <opencv2/opencv.hpp>
-#include "dynamic_vino_lib/inputs/base_input.h"
+#include "vino_core_lib/inputs/base_input.h"
 
 namespace Input
 {
@@ -63,4 +63,4 @@ class StandardCamera : public BaseInputDevice
   cv::VideoCapture cap;
 };
 }  // namespace Input
-#endif  // DYNAMIC_VINO_LIB_INPUTS_STANDARD_CAMERA_H
+#endif  // VINO_CORE_LIB_INPUTS_STANDARD_CAMERA_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.h b/vino_core_lib/include/vino_core_lib/inputs/video_input.h
similarity index 90%
rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.h
rename to vino_core_lib/include/vino_core_lib/inputs/video_input.h
index d1ae6f47..05875cc0 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.h
+++ b/vino_core_lib/include/vino_core_lib/inputs/video_input.h
@@ -18,12 +18,12 @@
  * @brief A header file with declaration for Video class
  * @file video_input.h
  */
-#ifndef DYNAMIC_VINO_LIB_INPUTS_VIDEO_INPUT_H
-#define DYNAMIC_VINO_LIB_INPUTS_VIDEO_INPUT_H
+#ifndef VINO_CORE_LIB_INPUTS_VIDEO_INPUT_H
+#define VINO_CORE_LIB_INPUTS_VIDEO_INPUT_H
 
 #include <opencv2/opencv.hpp>
 #include <string>
-#include "dynamic_vino_lib/inputs/base_input.h"
+#include "vino_core_lib/inputs/base_input.h"
 
 namespace Input
 {
@@ -69,4 +69,4 @@ class Video : public BaseInputDevice
 };
 }  // namespace Input
 
-#endif  // DYNAMIC_VINO_LIB_INPUTS_VIDEO_INPUT_H
+#endif  // VINO_CORE_LIB_INPUTS_VIDEO_INPUT_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.h b/vino_core_lib/include/vino_core_lib/models/age_gender_detection_model.h
similarity index 89%
rename from dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.h
rename to vino_core_lib/include/vino_core_lib/models/age_gender_detection_model.h
index 586b0e86..c24a0977 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.h
+++ b/vino_core_lib/include/vino_core_lib/models/age_gender_detection_model.h
@@ -19,11 +19,11 @@
  * @file age_gender_detection_model.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_MODELS_AGE_GENDER_DETECTION_MODEL_H
-#define DYNAMIC_VINO_LIB_MODELS_AGE_GENDER_DETECTION_MODEL_H
+#ifndef VINO_CORE_LIB_MODELS_AGE_GENDER_DETECTION_MODEL_H
+#define VINO_CORE_LIB_MODELS_AGE_GENDER_DETECTION_MODEL_H
 
 #include <string>
-#include "dynamic_vino_lib/models/base_model.h"
+#include "vino_core_lib/models/base_model.h"
 
 namespace Models
 {
@@ -76,4 +76,4 @@ class AgeGenderDetectionModel : public BaseModel
 };
 }  // namespace Models
 
-#endif  // DYNAMIC_VINO_LIB_MODELS_AGE_GENDER_DETECTION_MODEL_H
+#endif  // VINO_CORE_LIB_MODELS_AGE_GENDER_DETECTION_MODEL_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.h b/vino_core_lib/include/vino_core_lib/models/base_model.h
similarity index 100%
rename from dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.h
rename to vino_core_lib/include/vino_core_lib/models/base_model.h
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.h b/vino_core_lib/include/vino_core_lib/models/emotion_detection_model.h
similarity index 87%
rename from dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.h
rename to vino_core_lib/include/vino_core_lib/models/emotion_detection_model.h
index 65a1e490..6856a943 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.h
+++ b/vino_core_lib/include/vino_core_lib/models/emotion_detection_model.h
@@ -19,11 +19,11 @@
  * @file emotion_detection_model.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_MODELS_EMOTION_DETECTION_MODEL_H
-#define DYNAMIC_VINO_LIB_MODELS_EMOTION_DETECTION_MODEL_H
+#ifndef VINO_CORE_LIB_MODELS_EMOTION_DETECTION_MODEL_H
+#define VINO_CORE_LIB_MODELS_EMOTION_DETECTION_MODEL_H
 
 #include <string>
-#include "dynamic_vino_lib/models/base_model.h"
+#include "vino_core_lib/models/base_model.h"
 
 namespace Models
 {
@@ -59,4 +59,4 @@ class EmotionDetectionModel : public BaseModel
 };
 }  // namespace Models
 
-#endif  // DYNAMIC_VINO_LIB_MODELS_EMOTION_DETECTION_MODEL_H
+#endif  // VINO_CORE_LIB_MODELS_EMOTION_DETECTION_MODEL_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.h b/vino_core_lib/include/vino_core_lib/models/face_detection_model.h
similarity index 88%
rename from dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.h
rename to vino_core_lib/include/vino_core_lib/models/face_detection_model.h
index 778c1db3..284cfc58 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.h
+++ b/vino_core_lib/include/vino_core_lib/models/face_detection_model.h
@@ -19,11 +19,11 @@
  * @file face_detection_model.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_MODELS_FACE_DETECTION_MODEL_H
-#define DYNAMIC_VINO_LIB_MODELS_FACE_DETECTION_MODEL_H
+#ifndef VINO_CORE_LIB_MODELS_FACE_DETECTION_MODEL_H
+#define VINO_CORE_LIB_MODELS_FACE_DETECTION_MODEL_H
 
 #include <string>
-#include "dynamic_vino_lib/models/base_model.h"
+#include "vino_core_lib/models/base_model.h"
 
 namespace Models
 {
@@ -69,4 +69,4 @@ class FaceDetectionModel : public BaseModel
 };
 }  // namespace Models
 
-#endif  // DYNAMIC_VINO_LIB_MODELS_FACE_DETECTION_MODEL_H
+#endif  // VINO_CORE_LIB_MODELS_FACE_DETECTION_MODEL_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.h b/vino_core_lib/include/vino_core_lib/models/head_pose_detection_model.h
similarity index 89%
rename from dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.h
rename to vino_core_lib/include/vino_core_lib/models/head_pose_detection_model.h
index db3eb498..9816d6b1 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.h
+++ b/vino_core_lib/include/vino_core_lib/models/head_pose_detection_model.h
@@ -19,11 +19,11 @@
  * @file head_pose_detection_model.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_MODELS_HEAD_POSE_DETECTION_MODEL_H
-#define DYNAMIC_VINO_LIB_MODELS_HEAD_POSE_DETECTION_MODEL_H
+#ifndef VINO_CORE_LIB_MODELS_HEAD_POSE_DETECTION_MODEL_H
+#define VINO_CORE_LIB_MODELS_HEAD_POSE_DETECTION_MODEL_H
 
 #include <string>
-#include "dynamic_vino_lib/models/base_model.h"
+#include "vino_core_lib/models/base_model.h"
 
 namespace Models
 {
@@ -81,4 +81,4 @@ class HeadPoseDetectionModel : public BaseModel
 };
 }  // namespace Models
 
-#endif  // DYNAMIC_VINO_LIB_MODELS_HEAD_POSE_DETECTION_MODEL_H
+#endif  // VINO_CORE_LIB_MODELS_HEAD_POSE_DETECTION_MODEL_H
diff --git a/vino_core_lib/include/vino_core_lib/models/human_pose_estimation_model.h b/vino_core_lib/include/vino_core_lib/models/human_pose_estimation_model.h
new file mode 100644
index 00000000..f96ddeb3
--- /dev/null
+++ b/vino_core_lib/include/vino_core_lib/models/human_pose_estimation_model.h
@@ -0,0 +1,67 @@
+// TODO: Add license
+
+/**
+ * @brief A header file with declaration for FaceDetectionModel Class
+ * @file human_pose_estimation_model.h
+ */
+
+#ifndef VINO_CORE_LIB_MODELS_HUMAN_POSE_ESTIMATION_MODEL_H
+#define VINO_CORE_LIB_MODELS_HUMAN_POSE_ESTIMATION_MODEL_H
+
+#include <string>
+#include "vino_core_lib/models/base_model.h"
+
+namespace Models
+{
+/**
+ * @class HumanPoseEstimationModel
+ * @brief This class generates the human pose estimation model.
+ */
+class HumanPoseEstimationModel : public BaseModel
+{
+public:
+    HumanPoseEstimationModel(const std::string&, int, int, int);
+
+  /**
+   * @brief Get the input name.
+   * @return Input name.
+   */
+  inline const std::string getInputName() const
+  {
+    return input_;
+  }
+  /**
+   * @brief Get the age from the detection reuslt.
+   * @return Detected age.
+   */
+  inline const std::string getOutputKeypointsName() const
+  {
+    return output_keypoints_;
+  }
+  /**
+   * @brief Get the gender from the detection reuslt.
+   * @return Detected gender.
+   */
+  inline const std::string getOutputHeatmapName() const
+  {
+    return output_heatmap_;
+  }
+  /**
+   * @brief Get the name of this detection model.
+   * @return Name of the model.
+   */
+  const std::string getModelName() const override;
+
+protected:
+  void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr&) override;
+  void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+
+ private:
+  std::string input_;
+  std::string output_keypoints_;
+  std::string output_heatmap_;
+};
+
+}  // namespace Models
+
+#endif  // VINO_CORE_LIB_MODELS_HUMAN_POSE_ESTIMATION_MODEL_H
\ No newline at end of file
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_model.h b/vino_core_lib/include/vino_core_lib/models/object_detection_model.h
similarity index 88%
rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_model.h
rename to vino_core_lib/include/vino_core_lib/models/object_detection_model.h
index b0fe6c9f..23a23613 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_model.h
+++ b/vino_core_lib/include/vino_core_lib/models/object_detection_model.h
@@ -17,10 +17,10 @@
  * @brief A header file with declaration for ObjectDetectionModel Class
  * @file face_detection_model.h
  */
-#ifndef DYNAMIC_VINO_LIB_MODELS_OBJECT_DETECTION_MODEL_H
-#define DYNAMIC_VINO_LIB_MODELS_OBJECT_DETECTION_MODEL_H
+#ifndef VINO_CORE_LIB_MODELS_OBJECT_DETECTION_MODEL_H
+#define VINO_CORE_LIB_MODELS_OBJECT_DETECTION_MODEL_H
 #include <string>
-#include "dynamic_vino_lib/models/base_model.h"
+#include "vino_core_lib/models/base_model.h"
 namespace Models {
 /**
  * @class ObjectDetectionModel
@@ -48,4 +48,4 @@ class ObjectDetectionModel : public BaseModel {
   std::string output_;
 };
 }  // namespace Models
-#endif  // DYNAMIC_VINO_LIB_MODELS_OBJECT_DETECTION_MODEL_H
+#endif  // VINO_CORE_LIB_MODELS_OBJECT_DETECTION_MODEL_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.h b/vino_core_lib/include/vino_core_lib/models/object_segmentation_model.h
similarity index 88%
rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.h
rename to vino_core_lib/include/vino_core_lib/models/object_segmentation_model.h
index 38418824..85eeab91 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.h
+++ b/vino_core_lib/include/vino_core_lib/models/object_segmentation_model.h
@@ -15,10 +15,10 @@
  * @brief A header file with declaration for ObjectSegmentationModel Class
  * @file face_detection_model.h
  */
-#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_
-#define DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_
+#ifndef VINO_CORE_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_
+#define VINO_CORE_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_
 #include <string>
-#include "dynamic_vino_lib/models/base_model.h"
+#include "vino_core_lib/models/base_model.h"
 namespace Models
 {
 /**
@@ -69,4 +69,4 @@ class ObjectSegmentationModel : public BaseModel
   std::string detection_output_;
 };
 }  // namespace Models
-#endif  // DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_
+#endif  // VINO_CORE_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.h b/vino_core_lib/include/vino_core_lib/models/person_reidentification_model.h
similarity index 85%
rename from dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.h
rename to vino_core_lib/include/vino_core_lib/models/person_reidentification_model.h
index a9cff01f..f3dba956 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.h
+++ b/vino_core_lib/include/vino_core_lib/models/person_reidentification_model.h
@@ -16,10 +16,10 @@
  * @brief A header file with declaration for PersonReidentificationModel Class
  * @file face_detection_model.h
  */
-#ifndef DYNAMIC_VINO_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_
-#define DYNAMIC_VINO_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_
+#ifndef VINO_CORE_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_
+#define VINO_CORE_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_
 #include <string>
-#include "dynamic_vino_lib/models/base_model.h"
+#include "vino_core_lib/models/base_model.h"
 namespace Models
 {
 /**
@@ -45,4 +45,4 @@ class PersonReidentificationModel : public BaseModel
   std::string output_;
 };
 }  // namespace Models
-#endif  // DYNAMIC_VINO_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_
+#endif  // VINO_CORE_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.h b/vino_core_lib/include/vino_core_lib/outputs/base_output.h
similarity index 59%
rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.h
rename to vino_core_lib/include/vino_core_lib/outputs/base_output.h
index 00cafc1d..0f0a0401 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.h
+++ b/vino_core_lib/include/vino_core_lib/outputs/base_output.h
@@ -19,21 +19,22 @@
  * @file head_pose_detection_model.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_OUTPUTS_BASE_OUTPUT_H
-#define DYNAMIC_VINO_LIB_OUTPUTS_BASE_OUTPUT_H
+#ifndef VINO_CORE_LIB_OUTPUTS_BASE_OUTPUT_H
+#define VINO_CORE_LIB_OUTPUTS_BASE_OUTPUT_H
 
 #include <string>
 #include <vector>
 
-#include "dynamic_vino_lib/inferences/age_gender_detection.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/inferences/emotions_detection.h"
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/inferences/head_pose_detection.h"
-#include "dynamic_vino_lib/inferences/object_detection.h"
-#include "dynamic_vino_lib/inferences/object_segmentation.h"
-#include "dynamic_vino_lib/inferences/person_reidentification.h"
-#include "dynamic_vino_lib/services/frame_processing_server.h"
+#include "vino_core_lib/inferences/age_gender_detection.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/inferences/emotions_detection.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/inferences/head_pose_detection.h"
+#include "vino_core_lib/inferences/object_detection.h"
+#include "vino_core_lib/inferences/object_segmentation.h"
+#include "vino_core_lib/inferences/person_reidentification.h"
+#include "vino_core_lib/inferences/human_pose_estimation.h"
+#include "vino_core_lib/services/frame_processing_server.h"
 #include "opencv2/opencv.hpp"
 
 class Pipeline;
@@ -56,45 +57,51 @@ class BaseOutput
   * @brief Generate output content according to the face detection result.
   */
   virtual void accept(
-      const std::vector<dynamic_vino_lib::ObjectDetectionResult>&) 
+      const std::vector<vino_core_lib::ObjectDetectionResult>&) 
   {
   }
   /**
    * @brief Generate output content according to the face detection result.
    */
   virtual void accept(
-      const std::vector<dynamic_vino_lib::FaceDetectionResult>&)
+      const std::vector<vino_core_lib::FaceDetectionResult>&)
   {
   }
   /**
    * @brief Generate output content according to the emotion detection result.
    */
-  virtual void accept(const std::vector<dynamic_vino_lib::EmotionsResult>&)
+  virtual void accept(const std::vector<vino_core_lib::EmotionsResult>&)
   {
   }
   /**
    * @brief Generate output content according to the age and gender detection
    * result.
    */
-  virtual void accept(const std::vector<dynamic_vino_lib::AgeGenderResult>&)
+  virtual void accept(const std::vector<vino_core_lib::AgeGenderResult>&)
   {
   }
   /**
    * @brief Generate output content according to the headpose detection result.
    */
-  virtual void accept(const std::vector<dynamic_vino_lib::HeadPoseResult>&)
+  virtual void accept(const std::vector<vino_core_lib::HeadPoseResult>&)
   {
   }
   /**
    * @brief Generate output content according to the object segmentation result.
    */
-  virtual void accept(const std::vector<dynamic_vino_lib::ObjectSegmentationResult>&)
+  virtual void accept(const std::vector<vino_core_lib::ObjectSegmentationResult>&)
   {
   }
   /**
   * @brief Generate output content according to the person reidentification result.
   */
-  virtual void accept(const std::vector<dynamic_vino_lib::PersonReidentificationResult> &)
+  virtual void accept(const std::vector<vino_core_lib::PersonReidentificationResult> &)
+  {
+  }
+  /**
+  * @brief Generate output content according to the human pose estimation result.
+  */
+  virtual void accept(const std::vector<vino_core_lib::HumanPoseResult> &)
   {
   }
   /**
@@ -115,17 +122,19 @@ class BaseOutput
   virtual void setServiceResponseForFace(
     boost::shared_ptr<object_msgs::DetectObjectResponse> response) {}
   virtual void setServiceResponse(
-    boost::shared_ptr<people_msgs::AgeGenderSrvResponse> response) {}
+    boost::shared_ptr<vino_people_msgs::AgeGenderSrvResponse> response) {}
+  virtual void setServiceResponse(
+    boost::shared_ptr<vino_people_msgs::EmotionSrvResponse> response) {}
   virtual void setServiceResponse(
-    boost::shared_ptr<people_msgs::EmotionSrvResponse> response) {}
+    boost::shared_ptr<vino_people_msgs::HeadPoseSrvResponse> response) {}
   virtual void setServiceResponse(
-    boost::shared_ptr<people_msgs::HeadPoseSrvResponse> response) {}
+    boost::shared_ptr<vino_people_msgs::PeopleSrvResponse> response) {}
   virtual void setServiceResponse(
-    boost::shared_ptr<people_msgs::PeopleSrvResponse> response) {}
+    boost::shared_ptr<vino_people_msgs::ReidentificationSrvResponse> response) {}
   virtual void setServiceResponse(
-    boost::shared_ptr<people_msgs::ReidentificationSrvResponse> response) {}
+    boost::shared_ptr<vino_people_msgs::ObjectsInMasksSrvResponse> response) {}
   virtual void setServiceResponse(
-    boost::shared_ptr<people_msgs::ObjectsInMasksSrvResponse> response) {}
+    boost::shared_ptr<vino_people_msgs::HumanPoseSrvResponse> response) {}
   Pipeline* getPipeline() const;
   cv::Mat getFrame() const;
   virtual void clearData() {}
@@ -135,4 +144,4 @@ class BaseOutput
   Pipeline* pipeline_;
 };
 }  // namespace Outputs
-#endif  // DYNAMIC_VINO_LIB_OUTPUTS_BASE_OUTPUT_H
+#endif  // VINO_CORE_LIB_OUTPUTS_BASE_OUTPUT_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.h b/vino_core_lib/include/vino_core_lib/outputs/image_window_output.h
similarity index 78%
rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.h
rename to vino_core_lib/include/vino_core_lib/outputs/image_window_output.h
index 2bdca7c2..4fb41274 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.h
+++ b/vino_core_lib/include/vino_core_lib/outputs/image_window_output.h
@@ -19,12 +19,12 @@
 * @file image_window_output.h
 */
 
-#ifndef DYNAMIC_VINO_LIB_OUTPUTS_IMAGE_WINDOW_OUTPUT_H
-#define DYNAMIC_VINO_LIB_OUTPUTS_IMAGE_WINDOW_OUTPUT_H
+#ifndef VINO_CORE_LIB_OUTPUTS_IMAGE_WINDOW_OUTPUT_H
+#define VINO_CORE_LIB_OUTPUTS_IMAGE_WINDOW_OUTPUT_H
 
 #include <string>
 #include <vector>
-#include "dynamic_vino_lib/outputs/base_output.h"
+#include "vino_core_lib/outputs/base_output.h"
 
 namespace Outputs
 {
@@ -58,49 +58,57 @@ class ImageWindowOutput : public BaseOutput
    * @param[in] A face detection result objetc.
    */
   void accept(
-      const std::vector<dynamic_vino_lib::FaceDetectionResult>&) override;
+      const std::vector<vino_core_lib::FaceDetectionResult>&) override;
   /**
    * @brief Generate image window output content according to
    * the emotion detection result.
    * @param[in] A emotion detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::EmotionsResult>&) override;
+  void accept(const std::vector<vino_core_lib::EmotionsResult>&) override;
   /**
    * @brief Generate image window output content according to
    * the age and gender detection result.
    * @param[in] A head pose detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::HeadPoseResult>&) override;
+  void accept(const std::vector<vino_core_lib::HeadPoseResult>&) override;
   /**
    * @brief Generate image window output content according to
    * the headpose detection result.
    * @param[in] An age gender detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::AgeGenderResult>&) override;
+  void accept(const std::vector<vino_core_lib::AgeGenderResult>&) override;
   /**
    * @brief Generate image window output content according to
    * the object detection result.
    * @param[in] An object detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::ObjectDetectionResult>&) override;
+  void accept(const std::vector<vino_core_lib::ObjectDetectionResult>&) override;
   /**
    * @brief Generate image window output content according to
    * the object segmentation result.
    * @param[in] An object segmentation result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::ObjectSegmentationResult>&) override;
+  void accept(const std::vector<vino_core_lib::ObjectSegmentationResult>&) override;
    /**
    * @brief Generate image window output content according to
    * the person re-ID result.
    * @param[in] An object segmentation result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::PersonReidentificationResult> &) override;
+  void accept(const std::vector<vino_core_lib::PersonReidentificationResult> &) override;
+
+  /**
+   * @brief Generate image window output content according to
+   * the human pose estimation result.
+   * @param[in] An human pose estimation result objetc.
+   */
+  void accept(const std::vector<vino_core_lib::HumanPoseResult> &) override;
+
  /**
    * @brief Merge mask for image window ouput
    * the object segmentation result.
    * @param[in] An object segmentation result objetc.
    */
-  void mergeMask(const std::vector<dynamic_vino_lib::ObjectSegmentationResult> &);
+  void mergeMask(const std::vector<vino_core_lib::ObjectSegmentationResult> &);
  private:
 
   unsigned findOutput(const cv::Rect &);
@@ -128,6 +136,7 @@ class ImageWindowOutput : public BaseOutput
     cv::Point hp_y;   // for headpose, end point of yAxis
     cv::Point hp_zs;  // for headpose, start point of zAxis
     cv::Point hp_ze;  // for headpose, end point of zAxis
+    std::vector<vino_core_lib::HumanPoseKeypoint> kp; // for humanpose, keypoints
   };
 
   std::vector<OutputData> outputs_;
@@ -143,4 +152,4 @@ class ImageWindowOutput : public BaseOutput
   };
 };
 }  // namespace Outputs
-#endif  // DYNAMIC_VINO_LIB_OUTPUTS_IMAGE_WINDOW_OUTPUT_H
+#endif  // VINO_CORE_LIB_OUTPUTS_IMAGE_WINDOW_OUTPUT_H
diff --git a/vino_core_lib/include/vino_core_lib/outputs/ros_service_output.h b/vino_core_lib/include/vino_core_lib/outputs/ros_service_output.h
new file mode 100644
index 00000000..9615c7c3
--- /dev/null
+++ b/vino_core_lib/include/vino_core_lib/outputs/ros_service_output.h
@@ -0,0 +1,89 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @brief A header file with declaration for RosTopicOutput Class
+ * @file ros_topic_output.h
+ */
+
+#ifndef VINO_CORE_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_
+#define VINO_CORE_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_
+
+#include <object_msgs/Object.h>
+#include <object_msgs/ObjectInBox.h>
+#include <object_msgs/ObjectsInBoxes.h>
+#include <vino_people_msgs/Emotion.h>
+#include <vino_people_msgs/EmotionsStamped.h>
+#include <vino_people_msgs/AgeGender.h>
+#include <vino_people_msgs/AgeGenderStamped.h>
+#include <vino_people_msgs/HeadPose.h>
+#include <vino_people_msgs/HeadPoseStamped.h>
+#include <vino_people_msgs/ObjectInMask.h>
+#include <vino_people_msgs/ObjectsInMasks.h>
+#include <vino_people_msgs/Reidentification.h>
+#include <vino_people_msgs/ReidentificationStamped.h>
+#include <vino_people_msgs/HumanPose.h>
+#include <vino_people_msgs/HumanPoseStamped.h>
+
+#include <vino_people_msgs/AgeGenderSrv.h>
+#include <vino_people_msgs/EmotionSrv.h>
+#include <vino_people_msgs/HeadPoseSrv.h>
+#include <vino_people_msgs/PeopleSrv.h>
+#include <object_msgs/DetectObject.h>
+#include <vino_people_msgs/ObjectsInMasksSrv.h>
+#include <vino_people_msgs/ReidentificationSrv.h>
+#include <vino_people_msgs/HumanPoseSrv.h>
+
+#include <std_msgs/Header.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/outputs/ros_topic_output.h"
+
+namespace Outputs
+{
+/**
+ * @class RosServiceOutput
+ * @brief This class handles and publish the detection result for service calling.
+ */
+class RosServiceOutput : public RosTopicOutput
+{
+public:
+  RosServiceOutput() {}
+
+  /**
+   * @brief Publish all the detected infomations generated by the accept
+   * functions with ros topic.
+   */
+  void handleOutput() override {}
+  void clearData();
+
+  void setServiceResponse(boost::shared_ptr<object_msgs::DetectObject::Response> response);
+  void setResponseForFace(boost::shared_ptr<object_msgs::DetectObject::Response> response);
+  void setServiceResponse(boost::shared_ptr<vino_people_msgs::AgeGenderSrv::Response> response);
+  void setServiceResponse(boost::shared_ptr<vino_people_msgs::EmotionSrv::Response> response);
+  void setServiceResponse(boost::shared_ptr<vino_people_msgs::HeadPoseSrv::Response> response);
+  void setServiceResponse(boost::shared_ptr<vino_people_msgs::PeopleSrv::Response> response);
+  void setServiceResponse(boost::shared_ptr<vino_people_msgs::ObjectsInMasksSrv::Response> response);
+  void setServiceResponse(boost::shared_ptr<vino_people_msgs::ReidentificationSrv::Response> response);
+  void setServiceResponse(boost::shared_ptr<vino_people_msgs::HumanPoseSrv::Response> response);
+
+private:
+  const std::string service_name_;
+};
+}  // namespace Outputs
+#endif  // VINO_CORE_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.h b/vino_core_lib/include/vino_core_lib/outputs/ros_topic_output.h
similarity index 60%
rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.h
rename to vino_core_lib/include/vino_core_lib/outputs/ros_topic_output.h
index 583c9afd..adfc563d 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.h
+++ b/vino_core_lib/include/vino_core_lib/outputs/ros_topic_output.h
@@ -19,31 +19,33 @@
  * @file ros_topic_output.h
  */
 
-#ifndef DYNAMIC_VINO_LIB_OUTPUTS_ROS_TOPIC_OUTPUT_H
-#define DYNAMIC_VINO_LIB_OUTPUTS_ROS_TOPIC_OUTPUT_H
+#ifndef VINO_CORE_LIB_OUTPUTS_ROS_TOPIC_OUTPUT_H
+#define VINO_CORE_LIB_OUTPUTS_ROS_TOPIC_OUTPUT_H
 
 #include <image_transport/image_transport.h>
 #include <object_msgs/Object.h>
 #include <object_msgs/ObjectInBox.h>
 #include <object_msgs/ObjectsInBoxes.h>
-#include <people_msgs/AgeGender.h>
-#include <people_msgs/AgeGenderStamped.h>
-#include <people_msgs/Emotion.h>
-#include <people_msgs/EmotionsStamped.h>
-#include <people_msgs/HeadPose.h>
-#include <people_msgs/HeadPoseStamped.h>
-#include <people_msgs/ObjectInMask.h>
-#include <people_msgs/ObjectsInMasks.h>
-#include <people_msgs/Reidentification.h>
-#include <people_msgs/ReidentificationStamped.h>
+#include <vino_people_msgs/AgeGender.h>
+#include <vino_people_msgs/AgeGenderStamped.h>
+#include <vino_people_msgs/Emotion.h>
+#include <vino_people_msgs/EmotionsStamped.h>
+#include <vino_people_msgs/HeadPose.h>
+#include <vino_people_msgs/HeadPoseStamped.h>
+#include <vino_people_msgs/ObjectInMask.h>
+#include <vino_people_msgs/ObjectsInMasks.h>
+#include <vino_people_msgs/Reidentification.h>
+#include <vino_people_msgs/ReidentificationStamped.h>
+#include <vino_people_msgs/HumanPose.h>
+#include <vino_people_msgs/HumanPoseStamped.h>
 #include <ros/ros.h>
 
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/outputs/base_output.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/outputs/base_output.h"
 
 namespace Outputs
 {
@@ -70,44 +72,51 @@ class RosTopicOutput : public BaseOutput
    * the person reidentification result.
    * @param[in] results a bundle of person reidentification results.
    */
-  void accept(const std::vector<dynamic_vino_lib::PersonReidentificationResult> &) override;
+  void accept(const std::vector<vino_core_lib::PersonReidentificationResult> &) override;
   /**
    * @brief Generate ros topic infomation according to
    * the object segmentation result.
    * @param[in] results a bundle of object segmentation results.
    */
-  void accept(const std::vector<dynamic_vino_lib::ObjectSegmentationResult> &) override;
+  void accept(const std::vector<vino_core_lib::ObjectSegmentationResult> &) override;
   /**
    * @brief Generate ros topic infomation according to
    * the face detection result.
    * @param[in] An face detection result objetc.
    */
   void accept(
-      const std::vector<dynamic_vino_lib::FaceDetectionResult>&) override;
+      const std::vector<vino_core_lib::FaceDetectionResult>&) override;
   /**
    * @brief Generate ros topic infomation according to
    * the emotion detection result.
    * @param[in] An emotion detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::EmotionsResult>&) override;
+  void accept(const std::vector<vino_core_lib::EmotionsResult>&) override;
   /**
    * @brief Generate ros topic infomation according to
    * the age gender detection result.
    * @param[in] An age gender detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::AgeGenderResult> &) override;
+  void accept(const std::vector<vino_core_lib::AgeGenderResult> &) override;
   /**detected_objects_topic_
    * @brief Generate ros topic infomation according to
    * the headpose detection result.
    * @param[in] An head pose detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::HeadPoseResult>&) override;
+  void accept(const std::vector<vino_core_lib::HeadPoseResult>&) override;
   /**
    * @brief Generate ros topic infomation according to
    * the headpose detection result.
    * @param[in] An head pose detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::ObjectDetectionResult>&) override;
+  void accept(const std::vector<vino_core_lib::ObjectDetectionResult>&) override;
+
+  /**
+   * @brief Generate ros topic infomation according to
+   * the human pose estimation result.
+   * @param[in] An human pose estimation result objetc.
+   */
+  void accept(const std::vector<vino_core_lib::HumanPoseResult>&) override;
 
 
  private:
@@ -119,18 +128,20 @@ class RosTopicOutput : public BaseOutput
   ros::Publisher pub_face_;
   std::shared_ptr<object_msgs::ObjectsInBoxes> faces_msg_ptr_;
   ros::Publisher pub_emotion_;
-  std::shared_ptr<people_msgs::EmotionsStamped> emotions_msg_ptr_;
+  std::shared_ptr<vino_people_msgs::EmotionsStamped> emotions_msg_ptr_;
   ros::Publisher pub_age_gender_;
-  std::shared_ptr<people_msgs::AgeGenderStamped> age_gender_msg_ptr_;
+  std::shared_ptr<vino_people_msgs::AgeGenderStamped> age_gender_msg_ptr_;
   ros::Publisher pub_headpose_;
-  std::shared_ptr<people_msgs::HeadPoseStamped> headpose_msg_ptr_;
+  std::shared_ptr<vino_people_msgs::HeadPoseStamped> headpose_msg_ptr_;
   ros::Publisher pub_object_;
   std::shared_ptr<object_msgs::ObjectsInBoxes> object_msg_ptr_;
   ros::Publisher pub_person_reid_;
-  std::shared_ptr<people_msgs::ReidentificationStamped> person_reid_msg_ptr_;
+  std::shared_ptr<vino_people_msgs::ReidentificationStamped> person_reid_msg_ptr_;
   ros::Publisher pub_segmented_object_;
-  std::shared_ptr<people_msgs::ObjectsInMasks> segmented_object_msg_ptr_;
+  std::shared_ptr<vino_people_msgs::ObjectsInMasks> segmented_object_msg_ptr_;
+  ros::Publisher pub_human_pose_;
+  std::shared_ptr<vino_people_msgs::HumanPoseStamped> human_pose_msg_ptr_;
 
 };
 }  // namespace Outputs
-#endif  // DYNAMIC_VINO_LIB_OUTPUTS_ROS_TOPIC_OUTPUT_H
+#endif  // VINO_CORE_LIB_OUTPUTS_ROS_TOPIC_OUTPUT_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.h b/vino_core_lib/include/vino_core_lib/outputs/rviz_output.h
similarity index 71%
rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.h
rename to vino_core_lib/include/vino_core_lib/outputs/rviz_output.h
index 595e1864..82a5c6b0 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.h
+++ b/vino_core_lib/include/vino_core_lib/outputs/rviz_output.h
@@ -17,8 +17,8 @@
 * @file image_window_output.h
 */
 
-#ifndef DYNAMIC_VINO_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_
-#define DYNAMIC_VINO_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_
+#ifndef VINO_CORE_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_
+#define VINO_CORE_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_
 
 
 
@@ -26,8 +26,8 @@
 #include <string>
 #include <memory>
 
-#include "dynamic_vino_lib/outputs/base_output.h"
-#include "dynamic_vino_lib/outputs/image_window_output.h"
+#include "vino_core_lib/outputs/base_output.h"
+#include "vino_core_lib/outputs/image_window_output.h"
 
 namespace Outputs
 {
@@ -54,44 +54,53 @@ class RvizOutput : public BaseOutput
    * the face detection result.
    * @param[in] A face detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::FaceDetectionResult> &) override;
+  void accept(const std::vector<vino_core_lib::FaceDetectionResult> &) override;
   /**
    * @brief Generate rviz output content according to
    * the object detection result.
    * @param[in] results A bundle of object detection results.
    */
-  void accept(const std::vector<dynamic_vino_lib::ObjectDetectionResult> &) override;
+  void accept(const std::vector<vino_core_lib::ObjectDetectionResult> &) override;
   /**
  * @brief Generate rviz output content according to
  * the object segmentation result.
  * @param[in] results A bundle of object segmentation results.
  */
-  void accept(const std::vector<dynamic_vino_lib::EmotionsResult> &) override;
+  void accept(const std::vector<vino_core_lib::EmotionsResult> &) override;
   /**
    * @brief Generate rviz output content according to
    * the age and gender detection result.
    * @param[in] A head pose detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::HeadPoseResult> &) override;
+  void accept(const std::vector<vino_core_lib::HeadPoseResult> &) override;
   /**
    * @brief Generate rviz output content according to
    * the headpose detection result.
    * @param[in] An age gender detection result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::AgeGenderResult> &) override;
+  void accept(const std::vector<vino_core_lib::AgeGenderResult> &) override;
 
   /**
    * @brief Generate  rviz output content according to
    * the object segmentation result.
    * @param[in] An object segmentation result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::ObjectSegmentationResult>&) override;
+  void accept(const std::vector<vino_core_lib::ObjectSegmentationResult>&) override;
    /**
    * @brief Generate  rviz output content according to
    * the person re-ID result.
    * @param[in] An object segmentation result objetc.
    */
-  void accept(const std::vector<dynamic_vino_lib::PersonReidentificationResult> &) override;
+  void accept(const std::vector<vino_core_lib::PersonReidentificationResult> &) override;
+
+  /**
+   * @brief Generate  rviz output content according to
+   * the human pose estimation result.
+   * @param[in] An object segmentation result objetc.
+   */
+  void accept(const std::vector<vino_core_lib::HumanPoseResult> &) override;
+
+ // TODO remove comment.
  /**
    * @brief Merge mask for image window ouput
    * the object segmentation result.
@@ -106,5 +115,5 @@ class RvizOutput : public BaseOutput
   std::shared_ptr<Outputs::ImageWindowOutput> image_window_output_;
 };
 }  // namespace Outputs
-#endif  // DYNAMIC_VINO_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_
+#endif  // VINO_CORE_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_
 
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.h b/vino_core_lib/include/vino_core_lib/pipeline.h
similarity index 90%
rename from dynamic_vino_lib/include/dynamic_vino_lib/pipeline.h
rename to vino_core_lib/include/vino_core_lib/pipeline.h
index bf7394f2..db8d7ddc 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.h
+++ b/vino_core_lib/include/vino_core_lib/pipeline.h
@@ -18,8 +18,8 @@
  * @brief a header file with declaration of Pipeline class
  * @file pipeline.h
  */
-#ifndef DYNAMIC_VINO_LIB_PIPELINE_H
-#define DYNAMIC_VINO_LIB_PIPELINE_H
+#ifndef VINO_CORE_LIB_PIPELINE_H
+#define VINO_CORE_LIB_PIPELINE_H
 
 #include <atomic>
 #include <future>
@@ -29,10 +29,10 @@
 #include <set>
 #include <string>
 
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/inputs/standard_camera.h"
-#include "dynamic_vino_lib/outputs/base_output.h"
-#include "dynamic_vino_lib/pipeline_params.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/inputs/standard_camera.h"
+#include "vino_core_lib/outputs/base_output.h"
+#include "vino_core_lib/pipeline_params.h"
 #include "opencv2/opencv.hpp"
 
 /**
@@ -61,7 +61,7 @@ class Pipeline
    * @return whether the add operation is successful
    */
   bool add(const std::string& parent, const std::string& name,
-           std::shared_ptr<dynamic_vino_lib::BaseInference> inference);
+           std::shared_ptr<vino_core_lib::BaseInference> inference);
   /**
    * @brief Add inference network to the pipeline.
    * @param[in] name name of the current inference network.
@@ -69,7 +69,7 @@ class Pipeline
    * @return whether the add operation is successful
    */
   bool add(const std::string & name, 
-           std::shared_ptr<dynamic_vino_lib::BaseInference> inference);
+           std::shared_ptr<vino_core_lib::BaseInference> inference);
   /**
    * @brief Add output device to the pipeline.
    * @param[in] parent name of the parent inference.
@@ -162,7 +162,7 @@ class Pipeline
   std::shared_ptr<Input::BaseInputDevice> input_device_;
   std::string input_device_name_;
   std::multimap<std::string, std::string> next_;
-  std::map<std::string, std::shared_ptr<dynamic_vino_lib::BaseInference>>
+  std::map<std::string, std::shared_ptr<vino_core_lib::BaseInference>>
       name_to_detection_map_;
   std::map<std::string, std::shared_ptr<Outputs::BaseOutput>>
       name_to_output_map_;
@@ -178,4 +178,4 @@ class Pipeline
   int fps_ = 0;
 };
 
-#endif  // DYNAMIC_VINO_LIB_PIPELINE_H_
+#endif  // vino_core_lib_PIPELINE_H_
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.h b/vino_core_lib/include/vino_core_lib/pipeline_manager.h
similarity index 77%
rename from dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.h
rename to vino_core_lib/include/vino_core_lib/pipeline_manager.h
index 3deb2aa9..3a6d81db 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.h
+++ b/vino_core_lib/include/vino_core_lib/pipeline_manager.h
@@ -18,8 +18,8 @@
  * @brief a header file with declaration of Pipeline Manager class
  * @file pipeline_manager.hpp
  */
-#ifndef DYNAMIC_VINO_LIB__PIPELINE_MANAGER_HPP_
-#define DYNAMIC_VINO_LIB__PIPELINE_MANAGER_HPP_
+#ifndef VINO_CORE_LIB__PIPELINE_MANAGER_HPP_
+#define VINO_CORE_LIB__PIPELINE_MANAGER_HPP_
 
 #include <atomic>
 #include <future>
@@ -30,7 +30,7 @@
 #include <string>
 
 #include <vino_param_lib/param_manager.h>
-#include "dynamic_vino_lib/pipeline.h"
+#include "vino_core_lib/pipeline.h"
 
 /**
  * @class PipelineManager
@@ -88,24 +88,26 @@ class PipelineManager {
   parseInputDevice(const Params::ParamManager::PipelineParams& params);
   std::map<std::string, std::shared_ptr<Outputs::BaseOutput>> parseOutput(
       const Params::ParamManager::PipelineParams& params);
-  std::map<std::string, std::shared_ptr<dynamic_vino_lib::BaseInference>>
+  std::map<std::string, std::shared_ptr<vino_core_lib::BaseInference>>
   parseInference(const Params::ParamManager::PipelineParams& params);
-  std::shared_ptr<dynamic_vino_lib::BaseInference> createFaceDetection(
+  std::shared_ptr<vino_core_lib::BaseInference> createFaceDetection(
       const Params::ParamManager::InferenceParams& infer);
-  std::shared_ptr<dynamic_vino_lib::BaseInference> createAgeGenderRecognition(
+  std::shared_ptr<vino_core_lib::BaseInference> createAgeGenderRecognition(
       const Params::ParamManager::InferenceParams& infer);
-  std::shared_ptr<dynamic_vino_lib::BaseInference> createEmotionRecognition(
+  std::shared_ptr<vino_core_lib::BaseInference> createEmotionRecognition(
       const Params::ParamManager::InferenceParams& infer);
-  std::shared_ptr<dynamic_vino_lib::BaseInference> createHeadPoseEstimation(
+  std::shared_ptr<vino_core_lib::BaseInference> createHeadPoseEstimation(
       const Params::ParamManager::InferenceParams& infer);
-  std::shared_ptr<dynamic_vino_lib::BaseInference> createObjectDetection(
+  std::shared_ptr<vino_core_lib::BaseInference> createObjectDetection(
       const Params::ParamManager::InferenceParams& infer);
-  std::shared_ptr<dynamic_vino_lib::BaseInference> createObjectSegmentation(
+  std::shared_ptr<vino_core_lib::BaseInference> createObjectSegmentation(
       const Params::ParamManager::InferenceParams& infer);
-  std::shared_ptr<dynamic_vino_lib::BaseInference> createPersonReidentification(
+  std::shared_ptr<vino_core_lib::BaseInference> createPersonReidentification(
+      const Params::ParamManager::InferenceParams& infer);
+  std::shared_ptr<vino_core_lib::BaseInference> createHumanPoseEstimation(
       const Params::ParamManager::InferenceParams& infer);
   std::map<std::string, PipelineData> pipelines_;
   std::map<std::string, InferenceEngine::InferencePlugin> plugins_for_devices_;
 };
 
-#endif  // DYNAMIC_VINO_LIB__PIPELINE_MANAGER_HPP_
\ No newline at end of file
+#endif  // VINO_CORE_LIB__PIPELINE_MANAGER_HPP_
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.h b/vino_core_lib/include/vino_core_lib/pipeline_params.h
similarity index 88%
rename from dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.h
rename to vino_core_lib/include/vino_core_lib/pipeline_params.h
index 4344a48c..2a934d42 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.h
+++ b/vino_core_lib/include/vino_core_lib/pipeline_params.h
@@ -18,8 +18,8 @@
  * @brief a header file with declaration of Pipeline class
  * @file pipeline_param.h
  */
-#ifndef DYNAMIC_VINO_LIB_PIPELINE_PARAMS_H
-#define DYNAMIC_VINO_LIB_PIPELINE_PARAMS_H
+#ifndef VINO_CORE_LIB_PIPELINE_PARAMS_H
+#define VINO_CORE_LIB_PIPELINE_PARAMS_H
 
 #include <atomic>
 #include <future>
@@ -29,9 +29,9 @@
 #include <set>
 #include <string>
 
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/inputs/standard_camera.h"
-#include "dynamic_vino_lib/outputs/base_output.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/inputs/standard_camera.h"
+#include "vino_core_lib/outputs/base_output.h"
 #include "opencv2/opencv.hpp"
 #include "vino_param_lib/param_manager.h"
 
@@ -55,6 +55,7 @@ const char kInferTpye_HeadPoseEstimation[] = "HeadPoseEstimation";
 const char kInferTpye_ObjectDetection[] = "ObjectDetection";
 const char kInferTpye_ObjectSegmentation[] = "ObjectSegmentation";
 const char kInferTpye_PersonReidentification[] = "PersonReidentification";
+const char kInferTpye_HumanPoseEstimation[] = "HumanPoseEstimation";
 
 /**
  * @class PipelineParams
@@ -81,4 +82,4 @@ class PipelineParams
   Params::ParamManager::PipelineParams params_;
 };
 
-#endif  // DYNAMIC_VINO_LIB_PIPELINE_PARAMS_H
+#endif  // VINO_CORE_LIB_PIPELINE_PARAMS_H
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.h b/vino_core_lib/include/vino_core_lib/services/frame_processing_server.h
similarity index 76%
rename from dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.h
rename to vino_core_lib/include/vino_core_lib/services/frame_processing_server.h
index 0284a47c..7d1cf431 100644
--- a/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.h
+++ b/vino_core_lib/include/vino_core_lib/services/frame_processing_server.h
@@ -17,20 +17,21 @@
 #include <object_msgs/Object.h>
 #include <object_msgs/ObjectInBox.h>
 #include <object_msgs/ObjectsInBoxes.h>
-#include <people_msgs/Emotion.h>
-#include <people_msgs/EmotionsStamped.h>
-#include <people_msgs/AgeGender.h>
-#include <people_msgs/AgeGenderStamped.h>
-#include <people_msgs/HeadPose.h>
-#include <people_msgs/HeadPoseStamped.h>
+#include <vino_people_msgs/Emotion.h>
+#include <vino_people_msgs/EmotionsStamped.h>
+#include <vino_people_msgs/AgeGender.h>
+#include <vino_people_msgs/AgeGenderStamped.h>
+#include <vino_people_msgs/HeadPose.h>
+#include <vino_people_msgs/HeadPoseStamped.h>
 
-#include <people_msgs/AgeGenderSrv.h>
-#include <people_msgs/EmotionSrv.h>
-#include <people_msgs/HeadPoseSrv.h>
-#include <people_msgs/PeopleSrv.h>
+#include <vino_people_msgs/AgeGenderSrv.h>
+#include <vino_people_msgs/EmotionSrv.h>
+#include <vino_people_msgs/HeadPoseSrv.h>
+#include <vino_people_msgs/PeopleSrv.h>
 #include <object_msgs/DetectObject.h>
-#include <people_msgs/ObjectsInMasksSrv.h>
-#include <people_msgs/ReidentificationSrv.h>
+#include <vino_people_msgs/ObjectsInMasksSrv.h>
+#include <vino_people_msgs/ReidentificationSrv.h>
+#include <vino_people_msgs/HumanPoseSrv.h>
 
 #include <ros/ros.h>
 #include <memory>
@@ -67,4 +68,4 @@ class FrameProcessingServer //: public ros::NodeHandle
     bool add3(ros::ServiceEvent<typename T::Request, typename T::Response> &);
 };
 }  // namespace vino_service
-#endif // DYNAMIC_VINO_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_
\ No newline at end of file
+#endif // DYNAMIC_VINO_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/slog.h b/vino_core_lib/include/vino_core_lib/slog.h
similarity index 100%
rename from dynamic_vino_lib/include/dynamic_vino_lib/slog.h
rename to vino_core_lib/include/vino_core_lib/slog.h
diff --git a/dynamic_vino_lib/package.xml b/vino_core_lib/package.xml
similarity index 93%
rename from dynamic_vino_lib/package.xml
rename to vino_core_lib/package.xml
index fbab9c42..d9a5b213 100644
--- a/dynamic_vino_lib/package.xml
+++ b/vino_core_lib/package.xml
@@ -14,7 +14,7 @@ limitations under the License.
 -->
 
 <package>
-  <name>dynamic_vino_lib</name>
+  <name>vino_core_lib</name>
   <version>0.3.0</version>
   <description>a ROS wrapper package for Intel OpenVINO</description>
   <author email="wei.zhi.liu@intel.com">Weizhi Liu</author>
@@ -32,7 +32,7 @@ limitations under the License.
   <build_depend>image_transport</build_depend>
   <build_depend>cv_bridge</build_depend>
   <build_depend>object_msgs</build_depend>
-  <build_depend>people_msgs</build_depend>
+  <build_depend>vino_people_msgs</build_depend>
   <build_depend>vino_param_lib</build_depend>
 
   <run_depend>roscpp</run_depend>
@@ -42,6 +42,6 @@ limitations under the License.
   <run_depend>image_transport</run_depend>
   <run_depend>cv_bridge</run_depend>
   <run_depend>object_msgs</run_depend>
-  <run_depend>people_msgs</run_depend>
+  <run_depend>vino_people_msgs</run_depend>
   <run_depend>vino_param_lib</run_depend>
 </package>
diff --git a/dynamic_vino_lib/src/engines/engine.cpp b/vino_core_lib/src/engines/engine.cpp
similarity index 95%
rename from dynamic_vino_lib/src/engines/engine.cpp
rename to vino_core_lib/src/engines/engine.cpp
index db008926..45ddb5d4 100644
--- a/dynamic_vino_lib/src/engines/engine.cpp
+++ b/vino_core_lib/src/engines/engine.cpp
@@ -18,7 +18,7 @@
  * @brief a header file with definition of Engine class
  * @file engine.cpp
  */
-#include "dynamic_vino_lib/engines/engine.h"
+#include "vino_core_lib/engines/engine.h"
 
 Engines::Engine::Engine(InferenceEngine::InferencePlugin plg,
                         const Models::BaseModel::Ptr base_model)
diff --git a/dynamic_vino_lib/src/factory.cpp b/vino_core_lib/src/factory.cpp
similarity index 91%
rename from dynamic_vino_lib/src/factory.cpp
rename to vino_core_lib/src/factory.cpp
index d886124c..cedd83c5 100644
--- a/dynamic_vino_lib/src/factory.cpp
+++ b/vino_core_lib/src/factory.cpp
@@ -22,12 +22,12 @@
 #include <memory>
 #include <string>
 
-#include "dynamic_vino_lib/factory.h"
-#include "dynamic_vino_lib/inputs/image_input.h"
-#include "dynamic_vino_lib/inputs/realsense_camera.h"
-#include "dynamic_vino_lib/inputs/realsense_camera_topic.h"
-#include "dynamic_vino_lib/inputs/standard_camera.h"
-#include "dynamic_vino_lib/inputs/video_input.h"
+#include "vino_core_lib/factory.h"
+#include "vino_core_lib/inputs/image_input.h"
+#include "vino_core_lib/inputs/realsense_camera.h"
+#include "vino_core_lib/inputs/realsense_camera_topic.h"
+#include "vino_core_lib/inputs/standard_camera.h"
+#include "vino_core_lib/inputs/video_input.h"
 
 std::shared_ptr<Input::BaseInputDevice> Factory::makeInputDeviceByName(
     const std::string& input_device_name, const std::string& input_file_path)
diff --git a/dynamic_vino_lib/src/inferences/age_gender_detection.cpp b/vino_core_lib/src/inferences/age_gender_detection.cpp
similarity index 65%
rename from dynamic_vino_lib/src/inferences/age_gender_detection.cpp
rename to vino_core_lib/src/inferences/age_gender_detection.cpp
index b087ab2a..f654d85a 100644
--- a/dynamic_vino_lib/src/inferences/age_gender_detection.cpp
+++ b/vino_core_lib/src/inferences/age_gender_detection.cpp
@@ -22,38 +22,38 @@
 #include <memory>
 #include <string>
 
-#include "dynamic_vino_lib/inferences/age_gender_detection.h"
-#include "dynamic_vino_lib/outputs/base_output.h"
+#include "vino_core_lib/inferences/age_gender_detection.h"
+#include "vino_core_lib/outputs/base_output.h"
 
 // AgeGenderResult
-dynamic_vino_lib::AgeGenderResult::AgeGenderResult(const cv::Rect& location)
+vino_core_lib::AgeGenderResult::AgeGenderResult(const cv::Rect& location)
     : Result(location)
 {
 }
 
 // AgeGender Detection
-dynamic_vino_lib::AgeGenderDetection::AgeGenderDetection()
-    : dynamic_vino_lib::BaseInference()
+vino_core_lib::AgeGenderDetection::AgeGenderDetection()
+    : vino_core_lib::BaseInference()
 {
 }
 
-dynamic_vino_lib::AgeGenderDetection::~AgeGenderDetection() = default;
+vino_core_lib::AgeGenderDetection::~AgeGenderDetection() = default;
 
-void dynamic_vino_lib::AgeGenderDetection::loadNetwork(
+void vino_core_lib::AgeGenderDetection::loadNetwork(
     std::shared_ptr<Models::AgeGenderDetectionModel> network)
 {
   valid_model_ = network;
   setMaxBatchSize(network->getMaxBatchSize());
 }
 
-bool dynamic_vino_lib::AgeGenderDetection::enqueue(
+bool vino_core_lib::AgeGenderDetection::enqueue(
     const cv::Mat& frame, const cv::Rect& input_frame_loc)
 {
   if (getEnqueuedNum() == 0)
   {
     results_.clear();
   }
-  bool succeed = dynamic_vino_lib::BaseInference::enqueue<float>(
+  bool succeed = vino_core_lib::BaseInference::enqueue<float>(
       frame, input_frame_loc, 1, getResultsLength(),
       valid_model_->getInputName());
   if (!succeed) return false;
@@ -62,14 +62,14 @@ bool dynamic_vino_lib::AgeGenderDetection::enqueue(
   return true;
 }
 
-bool dynamic_vino_lib::AgeGenderDetection::submitRequest()
+bool vino_core_lib::AgeGenderDetection::submitRequest()
 {
-  return dynamic_vino_lib::BaseInference::submitRequest();
+  return vino_core_lib::BaseInference::submitRequest();
 }
 
-bool dynamic_vino_lib::AgeGenderDetection::fetchResults()
+bool vino_core_lib::AgeGenderDetection::fetchResults()
 {
-  bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults();
+  bool can_fetch = vino_core_lib::BaseInference::fetchResults();
   if (!can_fetch) return false;
   auto request = getEngine()->getRequest();
   InferenceEngine::Blob::Ptr genderBlob =
@@ -85,23 +85,23 @@ bool dynamic_vino_lib::AgeGenderDetection::fetchResults()
   return true;
 }
 
-const int dynamic_vino_lib::AgeGenderDetection::getResultsLength() const
+const int vino_core_lib::AgeGenderDetection::getResultsLength() const
 {
   return static_cast<int>(results_.size());
 }
 
-const dynamic_vino_lib::Result*
-dynamic_vino_lib::AgeGenderDetection::getLocationResult(int idx) const
+const vino_core_lib::Result*
+vino_core_lib::AgeGenderDetection::getLocationResult(int idx) const
 {
   return &(results_[idx]);
 }
 
-const std::string dynamic_vino_lib::AgeGenderDetection::getName() const
+const std::string vino_core_lib::AgeGenderDetection::getName() const
 {
   return valid_model_->getModelName();
 }
 
-const void dynamic_vino_lib::AgeGenderDetection::observeOutput(
+const void vino_core_lib::AgeGenderDetection::observeOutput(
     const std::shared_ptr<Outputs::BaseOutput>& output)
 {
   if (output != nullptr)
diff --git a/dynamic_vino_lib/src/inferences/base_inference.cpp b/vino_core_lib/src/inferences/base_inference.cpp
similarity index 74%
rename from dynamic_vino_lib/src/inferences/base_inference.cpp
rename to vino_core_lib/src/inferences/base_inference.cpp
index 4ca7d251..253a64c0 100644
--- a/dynamic_vino_lib/src/inferences/base_inference.cpp
+++ b/vino_core_lib/src/inferences/base_inference.cpp
@@ -21,26 +21,26 @@
 
 #include <memory>
 
-#include "dynamic_vino_lib/inferences/base_inference.h"
+#include "vino_core_lib/inferences/base_inference.h"
 
 // Result
-dynamic_vino_lib::Result::Result(const cv::Rect& location)
+vino_core_lib::Result::Result(const cv::Rect& location)
 {
   location_ = location;
 }
 
 // BaseInference
-dynamic_vino_lib::BaseInference::BaseInference() = default;
+vino_core_lib::BaseInference::BaseInference() = default;
 
-dynamic_vino_lib::BaseInference::~BaseInference() = default;
+vino_core_lib::BaseInference::~BaseInference() = default;
 
-void dynamic_vino_lib::BaseInference::loadEngine(
+void vino_core_lib::BaseInference::loadEngine(
     const std::shared_ptr<Engines::Engine> engine)
 {
   engine_ = engine;
 }
 
-bool dynamic_vino_lib::BaseInference::submitRequest()
+bool vino_core_lib::BaseInference::submitRequest()
 {
   if (engine_->getRequest() == nullptr) return false;
   if (!enqueued_frames) return false;
@@ -50,7 +50,7 @@ bool dynamic_vino_lib::BaseInference::submitRequest()
   return true;
 }
 
-bool dynamic_vino_lib::BaseInference::fetchResults()
+bool vino_core_lib::BaseInference::fetchResults()
 {
   if (results_fetched_) return false;
   results_fetched_ = true;
diff --git a/dynamic_vino_lib/src/inferences/emotions_detection.cpp b/vino_core_lib/src/inferences/emotions_detection.cpp
similarity index 74%
rename from dynamic_vino_lib/src/inferences/emotions_detection.cpp
rename to vino_core_lib/src/inferences/emotions_detection.cpp
index 9e10e3d3..3aee9eff 100644
--- a/dynamic_vino_lib/src/inferences/emotions_detection.cpp
+++ b/vino_core_lib/src/inferences/emotions_detection.cpp
@@ -23,39 +23,39 @@
 #include <memory>
 #include <string>
 
-#include "dynamic_vino_lib/inferences/emotions_detection.h"
-#include "dynamic_vino_lib/outputs/base_output.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/inferences/emotions_detection.h"
+#include "vino_core_lib/outputs/base_output.h"
+#include "vino_core_lib/slog.h"
 
 // EmotionsResult
-dynamic_vino_lib::EmotionsResult::EmotionsResult(const cv::Rect& location)
+vino_core_lib::EmotionsResult::EmotionsResult(const cv::Rect& location)
     : Result(location)
 {
 }
 
 // Emotions Detection
-dynamic_vino_lib::EmotionsDetection::EmotionsDetection()
-    : dynamic_vino_lib::BaseInference()
+vino_core_lib::EmotionsDetection::EmotionsDetection()
+    : vino_core_lib::BaseInference()
 {
 }
 
-dynamic_vino_lib::EmotionsDetection::~EmotionsDetection() = default;
+vino_core_lib::EmotionsDetection::~EmotionsDetection() = default;
 
-void dynamic_vino_lib::EmotionsDetection::loadNetwork(
+void vino_core_lib::EmotionsDetection::loadNetwork(
     const std::shared_ptr<Models::EmotionDetectionModel> network)
 {
   valid_model_ = network;
   setMaxBatchSize(network->getMaxBatchSize());
 }
 
-bool dynamic_vino_lib::EmotionsDetection::enqueue(
+bool vino_core_lib::EmotionsDetection::enqueue(
     const cv::Mat& frame, const cv::Rect& input_frame_loc)
 {
   if (getEnqueuedNum() == 0)
   {
     results_.clear();
   }
-  bool succeed = dynamic_vino_lib::BaseInference::enqueue<float>(
+  bool succeed = vino_core_lib::BaseInference::enqueue<float>(
       frame, input_frame_loc, 1, getResultsLength(),
       valid_model_->getInputName());
   if (!succeed)
@@ -69,14 +69,14 @@ bool dynamic_vino_lib::EmotionsDetection::enqueue(
   return true;
 }
 
-bool dynamic_vino_lib::EmotionsDetection::submitRequest()
+bool vino_core_lib::EmotionsDetection::submitRequest()
 {
-  return dynamic_vino_lib::BaseInference::submitRequest();
+  return vino_core_lib::BaseInference::submitRequest();
 }
 
-bool dynamic_vino_lib::EmotionsDetection::fetchResults()
+bool vino_core_lib::EmotionsDetection::fetchResults()
 {
-  bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults();
+  bool can_fetch = vino_core_lib::BaseInference::fetchResults();
   if (!can_fetch) return false;
   int label_length = static_cast<int>(valid_model_->getLabels().size());
   std::string output_name = valid_model_->getOutputName();
@@ -113,23 +113,23 @@ bool dynamic_vino_lib::EmotionsDetection::fetchResults()
   return true;
 }
 
-const int dynamic_vino_lib::EmotionsDetection::getResultsLength() const
+const int vino_core_lib::EmotionsDetection::getResultsLength() const
 {
   return static_cast<int>(results_.size());
 }
 
-const dynamic_vino_lib::Result*
-dynamic_vino_lib::EmotionsDetection::getLocationResult(int idx) const
+const vino_core_lib::Result*
+vino_core_lib::EmotionsDetection::getLocationResult(int idx) const
 {
   return &(results_[idx]);
 }
 
-const std::string dynamic_vino_lib::EmotionsDetection::getName() const
+const std::string vino_core_lib::EmotionsDetection::getName() const
 {
   return valid_model_->getModelName();
 }
 
-const void dynamic_vino_lib::EmotionsDetection::observeOutput(
+const void vino_core_lib::EmotionsDetection::observeOutput(
     const std::shared_ptr<Outputs::BaseOutput>& output)
 {
   if (output != nullptr)
diff --git a/dynamic_vino_lib/src/inferences/face_detection.cpp b/vino_core_lib/src/inferences/face_detection.cpp
similarity index 75%
rename from dynamic_vino_lib/src/inferences/face_detection.cpp
rename to vino_core_lib/src/inferences/face_detection.cpp
index e7aa3c36..356875b4 100644
--- a/dynamic_vino_lib/src/inferences/face_detection.cpp
+++ b/vino_core_lib/src/inferences/face_detection.cpp
@@ -24,27 +24,27 @@
 #include <string>
 #include <vector>
 
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/outputs/base_output.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/outputs/base_output.h"
+#include "vino_core_lib/slog.h"
 
 // FaceDetectionResult
-dynamic_vino_lib::FaceDetectionResult::FaceDetectionResult(
+vino_core_lib::FaceDetectionResult::FaceDetectionResult(
     const cv::Rect& location)
     : Result(location)
 {
 }
 
 // FaceDetection
-dynamic_vino_lib::FaceDetection::FaceDetection(double show_output_thresh)
-    : dynamic_vino_lib::BaseInference(),
+vino_core_lib::FaceDetection::FaceDetection(double show_output_thresh)
+    : vino_core_lib::BaseInference(),
       show_output_thresh_(show_output_thresh)
 {
 }
 
-dynamic_vino_lib::FaceDetection::~FaceDetection() = default;
+vino_core_lib::FaceDetection::~FaceDetection() = default;
 
-void dynamic_vino_lib::FaceDetection::loadNetwork(
+void vino_core_lib::FaceDetection::loadNetwork(
     const std::shared_ptr<Models::FaceDetectionModel> network)
 {
   valid_model_ = network;
@@ -53,7 +53,7 @@ void dynamic_vino_lib::FaceDetection::loadNetwork(
   setMaxBatchSize(network->getMaxBatchSize());
 }
 
-bool dynamic_vino_lib::FaceDetection::enqueue(const cv::Mat& frame,
+bool vino_core_lib::FaceDetection::enqueue(const cv::Mat& frame,
                                               const cv::Rect& input_frame_loc)
 {
   // slog::info << "Face-enqueue" << slog::endl;
@@ -62,7 +62,7 @@ bool dynamic_vino_lib::FaceDetection::enqueue(const cv::Mat& frame,
     width_ = frame.cols;
     height_ = frame.rows;
   }
-  if (!dynamic_vino_lib::BaseInference::enqueue<u_int8_t>(
+  if (!vino_core_lib::BaseInference::enqueue<u_int8_t>(
           frame, input_frame_loc, 1, 0, valid_model_->getInputName()))
   {
     return false;
@@ -73,15 +73,15 @@ bool dynamic_vino_lib::FaceDetection::enqueue(const cv::Mat& frame,
   return true;
 }
 
-bool dynamic_vino_lib::FaceDetection::submitRequest()
+bool vino_core_lib::FaceDetection::submitRequest()
 {
   // slog::info << "Face-submitRequest" << slog::endl;
-  return dynamic_vino_lib::BaseInference::submitRequest();
+  return vino_core_lib::BaseInference::submitRequest();
 }
 
-bool dynamic_vino_lib::FaceDetection::fetchResults()
+bool vino_core_lib::FaceDetection::fetchResults()
 {
-  bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults();
+  bool can_fetch = vino_core_lib::BaseInference::fetchResults();
   if (!can_fetch) return false;
   bool found_result = false;
   results_.clear();
@@ -122,23 +122,23 @@ bool dynamic_vino_lib::FaceDetection::fetchResults()
   return true;
 }
 
-const int dynamic_vino_lib::FaceDetection::getResultsLength() const
+const int vino_core_lib::FaceDetection::getResultsLength() const
 {
   return static_cast<int>(results_.size());
 }
 
-const dynamic_vino_lib::Result*
-dynamic_vino_lib::FaceDetection::getLocationResult(int idx) const
+const vino_core_lib::Result*
+vino_core_lib::FaceDetection::getLocationResult(int idx) const
 {
   return &(results_[idx]);
 }
 
-const std::string dynamic_vino_lib::FaceDetection::getName() const
+const std::string vino_core_lib::FaceDetection::getName() const
 {
   return valid_model_->getModelName();
 }
 
-const void dynamic_vino_lib::FaceDetection::observeOutput(
+const void vino_core_lib::FaceDetection::observeOutput(
     const std::shared_ptr<Outputs::BaseOutput>& output)
 {
   if (output != nullptr)
diff --git a/dynamic_vino_lib/src/inferences/head_pose_detection.cpp b/vino_core_lib/src/inferences/head_pose_detection.cpp
similarity index 67%
rename from dynamic_vino_lib/src/inferences/head_pose_detection.cpp
rename to vino_core_lib/src/inferences/head_pose_detection.cpp
index 490936cf..b6de5827 100644
--- a/dynamic_vino_lib/src/inferences/head_pose_detection.cpp
+++ b/vino_core_lib/src/inferences/head_pose_detection.cpp
@@ -20,40 +20,40 @@
  * @file head_pose_recognition.cpp
  */
 
-#include "dynamic_vino_lib/inferences/head_pose_detection.h"
+#include "vino_core_lib/inferences/head_pose_detection.h"
 #include <memory>
 #include <string>
-#include "dynamic_vino_lib/outputs/base_output.h"
+#include "vino_core_lib/outputs/base_output.h"
 
 // HeadPoseResult
-dynamic_vino_lib::HeadPoseResult::HeadPoseResult(const cv::Rect& location)
+vino_core_lib::HeadPoseResult::HeadPoseResult(const cv::Rect& location)
     : Result(location)
 {
 }
 
 // Head Pose Detection
-dynamic_vino_lib::HeadPoseDetection::HeadPoseDetection()
-    : dynamic_vino_lib::BaseInference()
+vino_core_lib::HeadPoseDetection::HeadPoseDetection()
+    : vino_core_lib::BaseInference()
 {
 }
 
-dynamic_vino_lib::HeadPoseDetection::~HeadPoseDetection() = default;
+vino_core_lib::HeadPoseDetection::~HeadPoseDetection() = default;
 
-void dynamic_vino_lib::HeadPoseDetection::loadNetwork(
+void vino_core_lib::HeadPoseDetection::loadNetwork(
     std::shared_ptr<Models::HeadPoseDetectionModel> network)
 {
   valid_model_ = network;
   setMaxBatchSize(network->getMaxBatchSize());
 }
 
-bool dynamic_vino_lib::HeadPoseDetection::enqueue(
+bool vino_core_lib::HeadPoseDetection::enqueue(
     const cv::Mat& frame, const cv::Rect& input_frame_loc)
 {
   if (getEnqueuedNum() == 0)
   {
     results_.clear();
   }
-  bool succeed = dynamic_vino_lib::BaseInference::enqueue<uint8_t>(
+  bool succeed = vino_core_lib::BaseInference::enqueue<uint8_t>(
       frame, input_frame_loc, 1, getResultsLength(),
       valid_model_->getInputName());
   if (!succeed) return false;
@@ -62,14 +62,14 @@ bool dynamic_vino_lib::HeadPoseDetection::enqueue(
   return true;
 }
 
-bool dynamic_vino_lib::HeadPoseDetection::submitRequest()
+bool vino_core_lib::HeadPoseDetection::submitRequest()
 {
-  return dynamic_vino_lib::BaseInference::submitRequest();
+  return vino_core_lib::BaseInference::submitRequest();
 }
 
-bool dynamic_vino_lib::HeadPoseDetection::fetchResults()
+bool vino_core_lib::HeadPoseDetection::fetchResults()
 {
-  bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults();
+  bool can_fetch = vino_core_lib::BaseInference::fetchResults();
   if (!can_fetch) return false;
   auto request = getEngine()->getRequest();
   InferenceEngine::Blob::Ptr angle_r =
@@ -88,23 +88,23 @@ bool dynamic_vino_lib::HeadPoseDetection::fetchResults()
   return true;
 }
 
-const int dynamic_vino_lib::HeadPoseDetection::getResultsLength() const
+const int vino_core_lib::HeadPoseDetection::getResultsLength() const
 {
   return static_cast<int>(results_.size());
 }
 
-const dynamic_vino_lib::Result*
-dynamic_vino_lib::HeadPoseDetection::getLocationResult(int idx) const
+const vino_core_lib::Result*
+vino_core_lib::HeadPoseDetection::getLocationResult(int idx) const
 {
   return &(results_[idx]);
 }
 
-const std::string dynamic_vino_lib::HeadPoseDetection::getName() const
+const std::string vino_core_lib::HeadPoseDetection::getName() const
 {
   return valid_model_->getModelName();
 }
 
-const void dynamic_vino_lib::HeadPoseDetection::observeOutput(
+const void vino_core_lib::HeadPoseDetection::observeOutput(
     const std::shared_ptr<Outputs::BaseOutput>& output)
 {
   if (output != nullptr)
diff --git a/vino_core_lib/src/inferences/human_pose_estimation.cpp b/vino_core_lib/src/inferences/human_pose_estimation.cpp
new file mode 100644
index 00000000..f1f9bb8a
--- /dev/null
+++ b/vino_core_lib/src/inferences/human_pose_estimation.cpp
@@ -0,0 +1,262 @@
+// TODO add license
+
+/**
+ * @brief a header file with declaration of HumanPoseResult class //TODO update
+ * @file human_pose_estimation.cpp
+ * 
+ * This file was mostly based on age_gender_detection.cpp. It also uses the code
+ * from object_detection.cpp.
+ */
+
+#include <memory>
+#include <string>
+
+#include "vino_core_lib/inferences/human_pose_estimation.h"
+#include "vino_core_lib/outputs/base_output.h"
+#include "vino_core_lib/inferences/peak.h"
+
+// HumanPoseResult
+vino_core_lib::HumanPoseResult::HumanPoseResult(const cv::Rect& location)
+    : Result(location)
+{
+}
+
+vino_core_lib::HumanPoseResult::HumanPoseResult(
+    const cv::Rect& location,
+    const std::vector<HumanPoseKeypoint>& keypoints,
+    const float& score)
+    : keypoints(keypoints),
+      score(score),
+      Result(location)
+{
+}
+
+// HumanPoseEstimation
+vino_core_lib::HumanPoseEstimation::HumanPoseEstimation(
+        float minPeaksDistance, 
+        float midPointsScoreThreshold,
+        float foundMidPointsRatioThreshold, 
+        int minJointsNumber, 
+        float minSubsetScore)
+  : vino_core_lib::BaseInference(),
+    upsampleRatio_(4),
+    minPeaksDistance_(minPeaksDistance),
+    midPointsScoreThreshold_(midPointsScoreThreshold),
+    foundMidPointsRatioThreshold_(foundMidPointsRatioThreshold),
+    minJointsNumber_(minJointsNumber),
+    minSubsetScore_(minSubsetScore),
+    stride_(8),
+    pad_(cv::Vec4i::all(0))
+{
+}
+
+vino_core_lib::HumanPoseEstimation::~HumanPoseEstimation() = default;
+
+void vino_core_lib::HumanPoseEstimation::loadNetwork(
+    std::shared_ptr<Models::HumanPoseEstimationModel> network)
+{
+  valid_model_ = network;
+  setMaxBatchSize(network->getMaxBatchSize());
+}
+
+bool vino_core_lib::HumanPoseEstimation::enqueue(
+    const cv::Mat& frame, const cv::Rect& input_frame_loc)
+{
+  // object_detection.cpp
+  if (width_ == 0 && height_ == 0)
+  {
+    width_ = frame.cols;
+    height_ = frame.rows;
+  }
+
+  if (!vino_core_lib::BaseInference::enqueue<u_int8_t>(
+          frame, input_frame_loc, 1, 0, valid_model_->getInputName())) 
+  {
+    return false;
+  }
+  Result r(input_frame_loc);
+  results_.clear();
+  results_.emplace_back(r);
+  return true;
+}
+
+bool vino_core_lib::HumanPoseEstimation::submitRequest()
+{
+  return vino_core_lib::BaseInference::submitRequest();
+}
+
+bool vino_core_lib::HumanPoseEstimation::fetchResults()
+{
+  bool can_fetch = vino_core_lib::BaseInference::fetchResults();
+  if (!can_fetch) return false;
+  auto request = getEngine()->getRequest();
+  InferenceEngine::Blob::Ptr keypointsBlob =
+      request->GetBlob(valid_model_->getOutputKeypointsName());
+  InferenceEngine::Blob::Ptr heatmapBlob =
+      request->GetBlob(valid_model_->getOutputHeatmapName());
+  
+  results_.clear();
+  CV_Assert(heatmapBlob->getTensorDesc().getDims()[1] == keypointsNumber_ + 1);
+  InferenceEngine::SizeVector heatMapDims =
+          heatmapBlob->getTensorDesc().getDims();
+  //std::vector<Result> poses = postprocess(
+  results_ = postprocess(
+          heatmapBlob->buffer(),
+          heatMapDims[2] * heatMapDims[3],
+          keypointsNumber_,
+          keypointsBlob->buffer(),
+          heatMapDims[2] * heatMapDims[3],
+          keypointsBlob->getTensorDesc().getDims()[1],
+          heatMapDims[3], heatMapDims[2], cv::Size(width_, height_));
+  return true;
+}
+
+const int vino_core_lib::HumanPoseEstimation::getResultsLength() const
+{
+  return static_cast<int>(results_.size());
+}
+
+const vino_core_lib::Result*
+vino_core_lib::HumanPoseEstimation::getLocationResult(int idx) const
+{
+  return &(results_[idx]);
+}
+
+const std::string vino_core_lib::HumanPoseEstimation::getName() const
+{
+  return valid_model_->getModelName();
+}
+
+const void vino_core_lib::HumanPoseEstimation::observeOutput(
+    const std::shared_ptr<Outputs::BaseOutput>& output)
+{
+  if (output != nullptr)
+  {
+    output->accept(results_);
+  }
+}
+
+using Result = vino_core_lib::HumanPoseResult;
+
+std::vector<Result> vino_core_lib::HumanPoseEstimation::postprocess(
+        const float* heatMapsData, const int heatMapOffset, const int nHeatMaps,
+        const float* pafsData, const int pafOffset, const int nPafs,
+        const int featureMapWidth, const int featureMapHeight,
+        const cv::Size& imageSize) const
+{
+  std::vector<cv::Mat> heatMaps(nHeatMaps);
+  for (size_t i = 0; i < heatMaps.size(); i++) 
+  {
+    heatMaps[i] = cv::Mat(featureMapHeight, featureMapWidth, CV_32FC1,
+                          reinterpret_cast<void*>(
+                            const_cast<float*>(
+                              heatMapsData + i * heatMapOffset)));
+  }
+
+  resizeFeatureMaps(heatMaps);
+
+  std::vector<cv::Mat> pafs(nPafs);
+  for (size_t i = 0; i < pafs.size(); i++)
+  {
+    pafs[i] = cv::Mat(featureMapHeight, featureMapWidth, CV_32FC1,
+                      reinterpret_cast<void*>(
+                        const_cast<float*>(
+                          pafsData + i * pafOffset)));
+  }
+  resizeFeatureMaps(pafs);
+
+  std::vector<Result> poses = extractPoses(heatMaps, pafs);
+  correctCoordinates(poses, heatMaps[0].size(), imageSize);
+  correctROI(poses);
+  return poses;
+}
+
+std::vector<Result> vino_core_lib::HumanPoseEstimation::extractPoses(
+        const std::vector<cv::Mat>& heatMaps,
+        const std::vector<cv::Mat>& pafs) const 
+{
+  std::vector<std::vector<human_pose_estimation::Peak>> peaksFromHeatMap(heatMaps.size());
+  human_pose_estimation::FindPeaksBody findPeaksBody(heatMaps, minPeaksDistance_, peaksFromHeatMap);
+  cv::parallel_for_(cv::Range(0, static_cast<int>(heatMaps.size())), findPeaksBody);
+  int peaksBefore = 0;
+  for (size_t heatmapId = 1; heatmapId < heatMaps.size(); heatmapId++) 
+  {
+    peaksBefore += static_cast<int>(peaksFromHeatMap[heatmapId - 1].size());
+    for (auto& peak : peaksFromHeatMap[heatmapId])
+    {
+      peak.id += peaksBefore;
+    }
+  }
+  std::vector<Result> poses = groupPeaksToPoses(
+              peaksFromHeatMap, pafs, keypointsNumber_, midPointsScoreThreshold_,
+              foundMidPointsRatioThreshold_, minJointsNumber_, minSubsetScore_);
+  return poses;
+}
+
+void vino_core_lib::HumanPoseEstimation::resizeFeatureMaps(
+            std::vector<cv::Mat>& featureMaps) const 
+{
+  for (auto& featureMap : featureMaps)
+  {
+      cv::resize(featureMap, featureMap, cv::Size(),
+                  upsampleRatio_, upsampleRatio_, cv::INTER_CUBIC);
+  }
+}
+
+void vino_core_lib::HumanPoseEstimation::correctCoordinates(std::vector<Result>& poses,
+                                            const cv::Size& featureMapsSize,
+                                            const cv::Size& imageSize) const 
+{
+  CV_Assert(stride_ % upsampleRatio_ == 0);
+
+  cv::Size fullFeatureMapSize = featureMapsSize * stride_ / upsampleRatio_;
+
+  float scaleX = imageSize.width /
+          static_cast<float>(fullFeatureMapSize.width - pad_(1) - pad_(3));
+  float scaleY = imageSize.height /
+          static_cast<float>(fullFeatureMapSize.height - pad_(0) - pad_(2));
+  for (auto& pose : poses) 
+  {
+    for (auto& keypoint : pose.keypoints) 
+    {
+      if (keypoint != cv::Point2f(-1, -1)) 
+      {
+          keypoint.x *= stride_ / upsampleRatio_;
+          keypoint.x -= pad_(1);
+          keypoint.x *= scaleX;
+
+          keypoint.y *= stride_ / upsampleRatio_;
+          keypoint.y -= pad_(0);
+          keypoint.y *= scaleY;
+      }
+    }
+  }
+}
+
+void vino_core_lib::HumanPoseEstimation::correctROI(
+  std::vector<Result>& poses) const 
+{
+  for (auto& pose : poses)
+  {
+    int xMin = width_;
+    int xMax = 0;
+    int yMin = height_;
+    int yMax = 0;
+    for (auto& kp: pose.keypoints)
+    {
+      if (kp.x < 0) continue;
+
+      int x = static_cast<int>(kp.x);
+      int y = static_cast<int>(kp.y);
+
+      if (x > xMax) xMax = x;
+      if (x < xMin) xMin = x;
+      
+      if (y > yMax) yMax = y;
+      if (y < yMin) yMin = y;
+    }
+    // slog::info << "rect at: (" << xMin << ", " << yMin << "), (" << xMax << ", " << yMax << ")" << slog::endl;
+    cv::Rect newLocation = cv::Rect(xMin, yMin, xMax - xMin, yMax - yMin);
+    pose.setLocation(newLocation);
+  }
+}
\ No newline at end of file
diff --git a/dynamic_vino_lib/src/inferences/object_detection.cpp b/vino_core_lib/src/inferences/object_detection.cpp
similarity index 74%
rename from dynamic_vino_lib/src/inferences/object_detection.cpp
rename to vino_core_lib/src/inferences/object_detection.cpp
index f25259bc..4f5f3273 100644
--- a/dynamic_vino_lib/src/inferences/object_detection.cpp
+++ b/vino_core_lib/src/inferences/object_detection.cpp
@@ -21,33 +21,33 @@
 #include <memory>
 #include <string>
 #include <vector>
-#include "dynamic_vino_lib/inferences/object_detection.h"
-#include "dynamic_vino_lib/outputs/base_output.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/inferences/object_detection.h"
+#include "vino_core_lib/outputs/base_output.h"
+#include "vino_core_lib/slog.h"
 // ObjectDetectionResult
-dynamic_vino_lib::ObjectDetectionResult::ObjectDetectionResult(
+vino_core_lib::ObjectDetectionResult::ObjectDetectionResult(
     const cv::Rect& location)
     : Result(location){}
 // ObjectDetection
-dynamic_vino_lib::ObjectDetection::ObjectDetection(bool enable_roi_constraint, 
+vino_core_lib::ObjectDetection::ObjectDetection(bool enable_roi_constraint, 
                                                   double show_output_thresh)
-    : dynamic_vino_lib::BaseInference(),
+    : vino_core_lib::BaseInference(),
       show_output_thresh_(show_output_thresh){}
-dynamic_vino_lib::ObjectDetection::~ObjectDetection() = default;
-void dynamic_vino_lib::ObjectDetection::loadNetwork(
+vino_core_lib::ObjectDetection::~ObjectDetection() = default;
+void vino_core_lib::ObjectDetection::loadNetwork(
     const std::shared_ptr<Models::ObjectDetectionModel> network) {
   valid_model_ = network;
   max_proposal_count_ = network->getMaxProposalCount();
   object_size_ = network->getObjectSize();
   setMaxBatchSize(network->getMaxBatchSize());
 }
-bool dynamic_vino_lib::ObjectDetection::enqueue(const cv::Mat& frame,
+bool vino_core_lib::ObjectDetection::enqueue(const cv::Mat& frame,
                                               const cv::Rect& input_frame_loc) {
   if (width_ == 0 && height_ == 0) {
     width_ = frame.cols;
     height_ = frame.rows;
   }
-  if (!dynamic_vino_lib::BaseInference::enqueue<u_int8_t>(
+  if (!vino_core_lib::BaseInference::enqueue<u_int8_t>(
           frame, input_frame_loc, 1, 0, valid_model_->getInputName())) {
     return false;
   }
@@ -56,11 +56,11 @@ bool dynamic_vino_lib::ObjectDetection::enqueue(const cv::Mat& frame,
   results_.emplace_back(r);
   return true;
 }
-bool dynamic_vino_lib::ObjectDetection::submitRequest() {
-  return dynamic_vino_lib::BaseInference::submitRequest();
+bool vino_core_lib::ObjectDetection::submitRequest() {
+  return vino_core_lib::BaseInference::submitRequest();
 }
-bool dynamic_vino_lib::ObjectDetection::fetchResults() {
-  bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults();
+bool vino_core_lib::ObjectDetection::fetchResults() {
+  bool can_fetch = vino_core_lib::BaseInference::fetchResults();
   if (!can_fetch) return false;
   bool found_result = false;
   results_.clear();
@@ -94,17 +94,17 @@ bool dynamic_vino_lib::ObjectDetection::fetchResults() {
   if (!found_result) results_.clear();
   return true;
 }
-const int dynamic_vino_lib::ObjectDetection::getResultsLength() const {
+const int vino_core_lib::ObjectDetection::getResultsLength() const {
   return static_cast<int>(results_.size());
 }
-const dynamic_vino_lib::Result*
-dynamic_vino_lib::ObjectDetection::getLocationResult(int idx) const {
+const vino_core_lib::Result*
+vino_core_lib::ObjectDetection::getLocationResult(int idx) const {
   return &(results_[idx]);
 }
-const std::string dynamic_vino_lib::ObjectDetection::getName() const {
+const std::string vino_core_lib::ObjectDetection::getName() const {
   return valid_model_->getModelName();
 }
-const void dynamic_vino_lib::ObjectDetection::observeOutput(
+const void vino_core_lib::ObjectDetection::observeOutput(
     const std::shared_ptr<Outputs::BaseOutput>& output) {
   if (output != nullptr) {
     output->accept(results_);
diff --git a/dynamic_vino_lib/src/inferences/object_segmentation.cpp b/vino_core_lib/src/inferences/object_segmentation.cpp
similarity index 77%
rename from dynamic_vino_lib/src/inferences/object_segmentation.cpp
rename to vino_core_lib/src/inferences/object_segmentation.cpp
index 69b7fd23..62a060bc 100644
--- a/dynamic_vino_lib/src/inferences/object_segmentation.cpp
+++ b/vino_core_lib/src/inferences/object_segmentation.cpp
@@ -22,32 +22,32 @@
 #include <vector>
 #include <algorithm>
 
-#include "dynamic_vino_lib/inferences/object_segmentation.h"
-#include "dynamic_vino_lib/outputs/base_output.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/inferences/object_segmentation.h"
+#include "vino_core_lib/outputs/base_output.h"
+#include "vino_core_lib/slog.h"
 
 // ObjectSegmentationResult
-dynamic_vino_lib::ObjectSegmentationResult::ObjectSegmentationResult(const cv::Rect & location)
+vino_core_lib::ObjectSegmentationResult::ObjectSegmentationResult(const cv::Rect & location)
 : Result(location)
 {
 }
 
 // ObjectSegmentation
-dynamic_vino_lib::ObjectSegmentation::ObjectSegmentation(double show_output_thresh)
-: show_output_thresh_(show_output_thresh), dynamic_vino_lib::BaseInference()
+vino_core_lib::ObjectSegmentation::ObjectSegmentation(double show_output_thresh)
+: show_output_thresh_(show_output_thresh), vino_core_lib::BaseInference()
 {
 }
 
-dynamic_vino_lib::ObjectSegmentation::~ObjectSegmentation() = default;
+vino_core_lib::ObjectSegmentation::~ObjectSegmentation() = default;
 
-void dynamic_vino_lib::ObjectSegmentation::loadNetwork(
+void vino_core_lib::ObjectSegmentation::loadNetwork(
   const std::shared_ptr<Models::ObjectSegmentationModel> network)
 {
   valid_model_ = network;
   setMaxBatchSize(network->getMaxBatchSize());
 }
 
-bool dynamic_vino_lib::ObjectSegmentation::enqueue(
+bool vino_core_lib::ObjectSegmentation::enqueue(
   const cv::Mat & frame,
   const cv::Rect & input_frame_loc)
 {
@@ -55,7 +55,7 @@ bool dynamic_vino_lib::ObjectSegmentation::enqueue(
     width_ = frame.cols;
     height_ = frame.rows;
   }
-  if (!dynamic_vino_lib::BaseInference::enqueue<u_int8_t>(frame, input_frame_loc, 1, 0,
+  if (!vino_core_lib::BaseInference::enqueue<u_int8_t>(frame, input_frame_loc, 1, 0,
     valid_model_->getInputName()))
   {
     return false;
@@ -66,14 +66,14 @@ bool dynamic_vino_lib::ObjectSegmentation::enqueue(
   return true;
 }
 
-bool dynamic_vino_lib::ObjectSegmentation::submitRequest()
+bool vino_core_lib::ObjectSegmentation::submitRequest()
 {
-  return dynamic_vino_lib::BaseInference::submitRequest();
+  return vino_core_lib::BaseInference::submitRequest();
 }
 
-bool dynamic_vino_lib::ObjectSegmentation::fetchResults()
+bool vino_core_lib::ObjectSegmentation::fetchResults()
 {
-  bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults();
+  bool can_fetch = vino_core_lib::BaseInference::fetchResults();
   if (!can_fetch) {
     return false;
   }
@@ -129,23 +129,23 @@ bool dynamic_vino_lib::ObjectSegmentation::fetchResults()
   return true;
 }
 
-const int dynamic_vino_lib::ObjectSegmentation::getResultsLength() const
+const int vino_core_lib::ObjectSegmentation::getResultsLength() const
 {
   return static_cast<int>(results_.size());
 }
 
-const dynamic_vino_lib::Result *
-dynamic_vino_lib::ObjectSegmentation::getLocationResult(int idx) const
+const vino_core_lib::Result *
+vino_core_lib::ObjectSegmentation::getLocationResult(int idx) const
 {
   return &(results_[idx]);
 }
 
-const std::string dynamic_vino_lib::ObjectSegmentation::getName() const
+const std::string vino_core_lib::ObjectSegmentation::getName() const
 {
   return valid_model_->getModelName();
 }
 
-const void dynamic_vino_lib::ObjectSegmentation::observeOutput(
+const void vino_core_lib::ObjectSegmentation::observeOutput(
   const std::shared_ptr<Outputs::BaseOutput> & output)
 {
   if (output != nullptr) {
diff --git a/vino_core_lib/src/inferences/peak.cpp b/vino_core_lib/src/inferences/peak.cpp
new file mode 100644
index 00000000..532fb6ae
--- /dev/null
+++ b/vino_core_lib/src/inferences/peak.cpp
@@ -0,0 +1,370 @@
+// Copyright (C) 2018-2019 Intel Corporation
+// SPDX-License-Identifier: Apache-2.0
+//
+
+#include <algorithm>
+#include <utility>
+#include <vector>
+
+#include "vino_core_lib/inferences/peak.h"
+
+namespace human_pose_estimation
+{
+Peak::Peak(const int id, const cv::Point2f &pos, const float score)
+    : id(id),
+      pos(pos),
+      score(score) {}
+
+HumanPoseByPeaksIndices::HumanPoseByPeaksIndices(const int keypointsNumber)
+    : peaksIndices(std::vector<int>(keypointsNumber, -1)),
+      nJoints(0),
+      score(0.0f) {}
+
+TwoJointsConnection::TwoJointsConnection(const int firstJointIdx,
+                                         const int secondJointIdx,
+                                         const float score)
+    : firstJointIdx(firstJointIdx),
+      secondJointIdx(secondJointIdx),
+      score(score) {}
+
+void findPeaks(const std::vector<cv::Mat> &heatMaps,
+               const float minPeaksDistance,
+               std::vector<std::vector<Peak>> &allPeaks,
+               int heatMapId)
+{
+  const float threshold = 0.1f;
+  std::vector<cv::Point> peaks;
+  const cv::Mat &heatMap = heatMaps[heatMapId];
+  const float *heatMapData = heatMap.ptr<float>();
+  size_t heatMapStep = heatMap.step1();
+  for (int y = -1; y < heatMap.rows + 1; y++)
+  {
+    for (int x = -1; x < heatMap.cols + 1; x++)
+    {
+      float val = 0;
+      if (x >= 0 && y >= 0 && x < heatMap.cols && y < heatMap.rows)
+      {
+        val = heatMapData[y * heatMapStep + x];
+        val = val >= threshold ? val : 0;
+      }
+
+      float left_val = 0;
+      if (y >= 0 && x < (heatMap.cols - 1) && y < heatMap.rows)
+      {
+        left_val = heatMapData[y * heatMapStep + x + 1];
+        left_val = left_val >= threshold ? left_val : 0;
+      }
+
+      float right_val = 0;
+      if (x > 0 && y >= 0 && y < heatMap.rows)
+      {
+        right_val = heatMapData[y * heatMapStep + x - 1];
+        right_val = right_val >= threshold ? right_val : 0;
+      }
+
+      float top_val = 0;
+      if (x >= 0 && x < heatMap.cols && y < (heatMap.rows - 1))
+      {
+        top_val = heatMapData[(y + 1) * heatMapStep + x];
+        top_val = top_val >= threshold ? top_val : 0;
+      }
+
+      float bottom_val = 0;
+      if (x >= 0 && y > 0 && x < heatMap.cols)
+      {
+        bottom_val = heatMapData[(y - 1) * heatMapStep + x];
+        bottom_val = bottom_val >= threshold ? bottom_val : 0;
+      }
+
+      if ((val > left_val) && (val > right_val) && (val > top_val) && (val > bottom_val))
+      {
+        peaks.push_back(cv::Point(x, y));
+      }
+    }
+  }
+  std::sort(peaks.begin(), peaks.end(), [](const cv::Point &a, const cv::Point &b) {
+    return a.x < b.x;
+  });
+  std::vector<bool> isActualPeak(peaks.size(), true);
+  int peakCounter = 0;
+  std::vector<Peak> &peaksWithScoreAndID = allPeaks[heatMapId];
+  for (size_t i = 0; i < peaks.size(); i++)
+  {
+    if (isActualPeak[i])
+    {
+      for (size_t j = i + 1; j < peaks.size(); j++)
+      {
+        if (sqrt((peaks[i].x - peaks[j].x) * (peaks[i].x - peaks[j].x) +
+                 (peaks[i].y - peaks[j].y) * (peaks[i].y - peaks[j].y)) < minPeaksDistance)
+        {
+          isActualPeak[j] = false;
+        }
+      }
+      peaksWithScoreAndID.push_back(Peak(peakCounter++, peaks[i], heatMap.at<float>(peaks[i])));
+    }
+  }
+}
+
+std::vector<Result> groupPeaksToPoses(
+  const std::vector<std::vector<Peak>> &allPeaks,
+  const std::vector<cv::Mat> &pafs,
+  const size_t keypointsNumber,
+  const float midPointsScoreThreshold,
+  const float foundMidPointsRatioThreshold,
+  const int minJointsNumber,
+  const float minSubsetScore)
+{
+  const std::vector<std::pair<int, int>> limbIdsHeatmap = {
+      {2, 3}, {2, 6}, {3, 4}, {4, 5}, {6, 7}, {7, 8}, {2, 9},
+      {9, 10}, {10, 11}, {2, 12}, {12, 13}, {13, 14}, {2, 1}, 
+      {1, 15}, {15, 17}, {1, 16}, {16, 18}, {3, 17}, {6, 18}};
+  const std::vector<std::pair<int, int>> limbIdsPaf = {
+      {31, 32}, {39, 40}, {33, 34}, {35, 36}, {41, 42}, {43, 44}, {19, 20}, 
+      {21, 22}, {23, 24}, {25, 26}, {27, 28}, {29, 30}, {47, 48}, {49, 50}, 
+      {53, 54}, {51, 52}, {55, 56}, {37, 38}, {45, 46}};
+
+  std::vector<Peak> candidates;
+  for (const auto &peaks : allPeaks)
+  {
+    candidates.insert(candidates.end(), peaks.begin(), peaks.end());
+  }
+  std::vector<HumanPoseByPeaksIndices> subset(0, HumanPoseByPeaksIndices(keypointsNumber));
+  for (size_t k = 0; k < limbIdsPaf.size(); k++)
+  {
+    std::vector<TwoJointsConnection> connections;
+    const int mapIdxOffset = keypointsNumber + 1;
+    std::pair<cv::Mat, cv::Mat> scoreMid = {pafs[limbIdsPaf[k].first - mapIdxOffset],
+                                            pafs[limbIdsPaf[k].second - mapIdxOffset]};
+    const int idxJointA = limbIdsHeatmap[k].first - 1;
+    const int idxJointB = limbIdsHeatmap[k].second - 1;
+    const std::vector<Peak> &candA = allPeaks[idxJointA];
+    const std::vector<Peak> &candB = allPeaks[idxJointB];
+    const size_t nJointsA = candA.size();
+    const size_t nJointsB = candB.size();
+    if (nJointsA == 0 && nJointsB == 0)
+    {
+      continue;
+    }
+    else if (nJointsA == 0)
+    {
+      for (size_t i = 0; i < nJointsB; i++)
+      {
+        int num = 0;
+        for (size_t j = 0; j < subset.size(); j++)
+        {
+          if (subset[j].peaksIndices[idxJointB] == candB[i].id)
+          {
+            num++;
+            continue;
+          }
+        }
+        if (num == 0)
+        {
+          HumanPoseByPeaksIndices personKeypoints(keypointsNumber);
+          personKeypoints.peaksIndices[idxJointB] = candB[i].id;
+          personKeypoints.nJoints = 1;
+          personKeypoints.score = candB[i].score;
+          subset.push_back(personKeypoints);
+        }
+      }
+      continue;
+    }
+    else if (nJointsB == 0)
+    {
+      for (size_t i = 0; i < nJointsA; i++)
+      {
+        int num = 0;
+        for (size_t j = 0; j < subset.size(); j++)
+        {
+          if (subset[j].peaksIndices[idxJointA] == candA[i].id)
+          {
+            num++;
+            continue;
+          }
+        }
+        if (num == 0)
+        {
+          HumanPoseByPeaksIndices personKeypoints(keypointsNumber);
+          personKeypoints.peaksIndices[idxJointA] = candA[i].id;
+          personKeypoints.nJoints = 1;
+          personKeypoints.score = candA[i].score;
+          subset.push_back(personKeypoints);
+        }
+      }
+      continue;
+    }
+
+    std::vector<TwoJointsConnection> tempJointConnections;
+    for (size_t i = 0; i < nJointsA; i++)
+    {
+      for (size_t j = 0; j < nJointsB; j++)
+      {
+        cv::Point2f pt = candA[i].pos * 0.5 + candB[j].pos * 0.5;
+        cv::Point mid = cv::Point(cvRound(pt.x), cvRound(pt.y));
+        cv::Point2f vec = candB[j].pos - candA[i].pos;
+        double norm_vec = cv::norm(vec);
+        if (norm_vec == 0)
+        {
+          continue;
+        }
+        vec /= norm_vec;
+        float score = vec.x * scoreMid.first.at<float>(mid) + vec.y * scoreMid.second.at<float>(mid);
+        int height_n = pafs[0].rows / 2;
+        float suc_ratio = 0.0f;
+        float mid_score = 0.0f;
+        const int mid_num = 10;
+        const float scoreThreshold = -100.0f;
+        if (score > scoreThreshold)
+        {
+          float p_sum = 0;
+          int p_count = 0;
+          cv::Size2f step((candB[j].pos.x - candA[i].pos.x) / (mid_num - 1),
+                          (candB[j].pos.y - candA[i].pos.y) / (mid_num - 1));
+          for (int n = 0; n < mid_num; n++)
+          {
+            cv::Point midPoint(cvRound(candA[i].pos.x + n * step.width),
+                               cvRound(candA[i].pos.y + n * step.height));
+            cv::Point2f pred(scoreMid.first.at<float>(midPoint),
+                             scoreMid.second.at<float>(midPoint));
+            score = vec.x * pred.x + vec.y * pred.y;
+            if (score > midPointsScoreThreshold)
+            {
+              p_sum += score;
+              p_count++;
+            }
+          }
+          suc_ratio = static_cast<float>(p_count / mid_num);
+          float ratio = p_count > 0 ? p_sum / p_count : 0.0f;
+          mid_score = ratio + static_cast<float>(std::min(height_n / norm_vec - 1, 0.0));
+        }
+        if (mid_score > 0 && suc_ratio > foundMidPointsRatioThreshold)
+        {
+          tempJointConnections.push_back(TwoJointsConnection(i, j, mid_score));
+        }
+      }
+    }
+    if (!tempJointConnections.empty())
+    {
+      std::sort(tempJointConnections.begin(), tempJointConnections.end(),
+                [](const TwoJointsConnection &a,
+                   const TwoJointsConnection &b) {
+                  return (a.score > b.score);
+                });
+    }
+    size_t num_limbs = std::min(nJointsA, nJointsB);
+    size_t cnt = 0;
+    std::vector<int> occurA(nJointsA, 0);
+    std::vector<int> occurB(nJointsB, 0);
+    for (size_t row = 0; row < tempJointConnections.size(); row++)
+    {
+      if (cnt == num_limbs)
+      {
+        break;
+      }
+      const int &indexA = tempJointConnections[row].firstJointIdx;
+      const int &indexB = tempJointConnections[row].secondJointIdx;
+      const float &score = tempJointConnections[row].score;
+      if (occurA[indexA] == 0 && occurB[indexB] == 0)
+      {
+        connections.push_back(TwoJointsConnection(candA[indexA].id, candB[indexB].id, score));
+        cnt++;
+        occurA[indexA] = 1;
+        occurB[indexB] = 1;
+      }
+    }
+    if (connections.empty())
+    {
+      continue;
+    }
+
+    bool extraJointConnections = (k == 17 || k == 18);
+    if (k == 0)
+    {
+      subset = std::vector<HumanPoseByPeaksIndices>(
+          connections.size(), HumanPoseByPeaksIndices(keypointsNumber));
+      for (size_t i = 0; i < connections.size(); i++)
+      {
+        const int &indexA = connections[i].firstJointIdx;
+        const int &indexB = connections[i].secondJointIdx;
+        subset[i].peaksIndices[idxJointA] = indexA;
+        subset[i].peaksIndices[idxJointB] = indexB;
+        subset[i].nJoints = 2;
+        subset[i].score = candidates[indexA].score + candidates[indexB].score + connections[i].score;
+      }
+    }
+    else if (extraJointConnections)
+    {
+      for (size_t i = 0; i < connections.size(); i++)
+      {
+        const int &indexA = connections[i].firstJointIdx;
+        const int &indexB = connections[i].secondJointIdx;
+        for (size_t j = 0; j < subset.size(); j++)
+        {
+          if (subset[j].peaksIndices[idxJointA] == indexA && subset[j].peaksIndices[idxJointB] == -1)
+          {
+            subset[j].peaksIndices[idxJointB] = indexB;
+          }
+          else if (subset[j].peaksIndices[idxJointB] == indexB && subset[j].peaksIndices[idxJointA] == -1)
+          {
+            subset[j].peaksIndices[idxJointA] = indexA;
+          }
+        }
+      }
+      continue;
+    }
+    else
+    {
+      for (size_t i = 0; i < connections.size(); i++)
+      {
+        const int &indexA = connections[i].firstJointIdx;
+        const int &indexB = connections[i].secondJointIdx;
+        bool num = false;
+        for (size_t j = 0; j < subset.size(); j++)
+        {
+          if (subset[j].peaksIndices[idxJointA] == indexA)
+          {
+            subset[j].peaksIndices[idxJointB] = indexB;
+            subset[j].nJoints++;
+            subset[j].score += candidates[indexB].score + connections[i].score;
+            num = true;
+          }
+        }
+        if (!num)
+        {
+          HumanPoseByPeaksIndices hpWithScore(keypointsNumber);
+          hpWithScore.peaksIndices[idxJointA] = indexA;
+          hpWithScore.peaksIndices[idxJointB] = indexB;
+          hpWithScore.nJoints = 2;
+          hpWithScore.score = candidates[indexA].score + candidates[indexB].score + connections[i].score;
+          subset.push_back(hpWithScore);
+        }
+      }
+    }
+  }
+  std::vector<Result> poses;
+  for (const auto &subsetI : subset)
+  {
+    if (subsetI.nJoints < minJointsNumber || subsetI.score / subsetI.nJoints < minSubsetScore)
+    {
+      continue;
+    }
+    int position = -1;
+    Result pose(cv::Rect(),
+                std::vector<vino_core_lib::HumanPoseKeypoint>(keypointsNumber, cv::Point2f(-1.0f, -1.0f)),
+                subsetI.score * std::max(0, subsetI.nJoints - 1));
+    for (const auto &peakIdx : subsetI.peaksIndices)
+    {
+      position++;
+      if (peakIdx >= 0)
+      {
+        pose.keypoints[position] = candidates[peakIdx].pos;
+        pose.keypoints[position].x += 0.5;
+        pose.keypoints[position].y += 0.5;
+        pose.keypoints[position].score = candidates[peakIdx].score;
+      }
+    }
+    poses.push_back(pose);
+  }
+  return poses;
+}
+} // namespace human_pose_estimation
diff --git a/dynamic_vino_lib/src/inferences/person_reidentification.cpp b/vino_core_lib/src/inferences/person_reidentification.cpp
similarity index 73%
rename from dynamic_vino_lib/src/inferences/person_reidentification.cpp
rename to vino_core_lib/src/inferences/person_reidentification.cpp
index 005a128d..ef192590 100644
--- a/dynamic_vino_lib/src/inferences/person_reidentification.cpp
+++ b/vino_core_lib/src/inferences/person_reidentification.cpp
@@ -20,34 +20,34 @@
 #include <memory>
 #include <string>
 #include <vector>
-#include "dynamic_vino_lib/inferences/person_reidentification.h"
-#include "dynamic_vino_lib/outputs/base_output.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/inferences/person_reidentification.h"
+#include "vino_core_lib/outputs/base_output.h"
+#include "vino_core_lib/slog.h"
 
 // PersonReidentificationResult
-dynamic_vino_lib::PersonReidentificationResult::PersonReidentificationResult(
+vino_core_lib::PersonReidentificationResult::PersonReidentificationResult(
   const cv::Rect & location)
 : Result(location) {}
 
 // PersonReidentification
-dynamic_vino_lib::PersonReidentification::PersonReidentification(double match_thresh)
-: match_thresh_(match_thresh), dynamic_vino_lib::BaseInference() {}
+vino_core_lib::PersonReidentification::PersonReidentification(double match_thresh)
+: match_thresh_(match_thresh), vino_core_lib::BaseInference() {}
 
-dynamic_vino_lib::PersonReidentification::~PersonReidentification() = default;
-void dynamic_vino_lib::PersonReidentification::loadNetwork(
+vino_core_lib::PersonReidentification::~PersonReidentification() = default;
+void vino_core_lib::PersonReidentification::loadNetwork(
   const std::shared_ptr<Models::PersonReidentificationModel> network)
 {
   valid_model_ = network;
   setMaxBatchSize(network->getMaxBatchSize());
 }
 
-bool dynamic_vino_lib::PersonReidentification::enqueue(
+bool vino_core_lib::PersonReidentification::enqueue(
   const cv::Mat & frame, const cv::Rect & input_frame_loc)
 {
   if (getEnqueuedNum() == 0) {
     results_.clear();
   }
-  if (!dynamic_vino_lib::BaseInference::enqueue<u_int8_t>(
+  if (!vino_core_lib::BaseInference::enqueue<u_int8_t>(
       frame, input_frame_loc, 1, 0, valid_model_->getInputName()))
   {
     return false;
@@ -57,14 +57,14 @@ bool dynamic_vino_lib::PersonReidentification::enqueue(
   return true;
 }
 
-bool dynamic_vino_lib::PersonReidentification::submitRequest()
+bool vino_core_lib::PersonReidentification::submitRequest()
 {
-  return dynamic_vino_lib::BaseInference::submitRequest();
+  return vino_core_lib::BaseInference::submitRequest();
 }
 
-bool dynamic_vino_lib::PersonReidentification::fetchResults()
+bool vino_core_lib::PersonReidentification::fetchResults()
 {
-  bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults();
+  bool can_fetch = vino_core_lib::BaseInference::fetchResults();
   if (!can_fetch) {return false;}
   bool found_result = false;
   InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest();
@@ -81,7 +81,7 @@ bool dynamic_vino_lib::PersonReidentification::fetchResults()
   return true;
 }
 
-float dynamic_vino_lib::PersonReidentification::calcSimilarity(
+float vino_core_lib::PersonReidentification::calcSimilarity(
   const std::vector<float> & person_a, const std::vector<float> & person_b)
 {
   if (person_a.size() != person_b.size()) {
@@ -105,7 +105,7 @@ float dynamic_vino_lib::PersonReidentification::calcSimilarity(
   return mul_sum / (sqrt(denom_a) * sqrt(denom_b));
 }
 
-std::string dynamic_vino_lib::PersonReidentification::findMatchPerson(
+std::string vino_core_lib::PersonReidentification::findMatchPerson(
   const std::vector<float> & new_person)
 {
   auto size = recorded_persons_.size();
@@ -128,23 +128,23 @@ std::string dynamic_vino_lib::PersonReidentification::findMatchPerson(
   }
 }
 
-const int dynamic_vino_lib::PersonReidentification::getResultsLength() const
+const int vino_core_lib::PersonReidentification::getResultsLength() const
 {
   return static_cast<int>(results_.size());
 }
 
-const dynamic_vino_lib::Result *
-dynamic_vino_lib::PersonReidentification::getLocationResult(int idx) const
+const vino_core_lib::Result *
+vino_core_lib::PersonReidentification::getLocationResult(int idx) const
 {
   return &(results_[idx]);
 }
 
-const std::string dynamic_vino_lib::PersonReidentification::getName() const
+const std::string vino_core_lib::PersonReidentification::getName() const
 {
   return valid_model_->getModelName();
 }
 
-const void dynamic_vino_lib::PersonReidentification::observeOutput(
+const void vino_core_lib::PersonReidentification::observeOutput(
   const std::shared_ptr<Outputs::BaseOutput> & output)
 {
   if (output != nullptr) {
diff --git a/dynamic_vino_lib/src/inputs/image_input.cpp b/vino_core_lib/src/inputs/image_input.cpp
similarity index 96%
rename from dynamic_vino_lib/src/inputs/image_input.cpp
rename to vino_core_lib/src/inputs/image_input.cpp
index c2790f0e..a9ef8be3 100644
--- a/dynamic_vino_lib/src/inputs/image_input.cpp
+++ b/vino_core_lib/src/inputs/image_input.cpp
@@ -19,7 +19,7 @@
  * @file image_input.cpp
  */
 
-#include "dynamic_vino_lib/inputs/image_input.h"
+#include "vino_core_lib/inputs/image_input.h"
 #include <string>
 
 // Image
diff --git a/dynamic_vino_lib/src/inputs/realsense_camera.cpp b/vino_core_lib/src/inputs/realsense_camera.cpp
similarity index 96%
rename from dynamic_vino_lib/src/inputs/realsense_camera.cpp
rename to vino_core_lib/src/inputs/realsense_camera.cpp
index 8ebd273c..e014e412 100644
--- a/dynamic_vino_lib/src/inputs/realsense_camera.cpp
+++ b/vino_core_lib/src/inputs/realsense_camera.cpp
@@ -18,8 +18,8 @@
  * @brief a header file with declaration of RealSenseCamera class
  * @file realsense_camera.cpp
  */
-#include "dynamic_vino_lib/inputs/realsense_camera.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/inputs/realsense_camera.h"
+#include "vino_core_lib/slog.h"
 
 // RealSenseCamera
 bool Input::RealSenseCamera::initialize()
diff --git a/dynamic_vino_lib/src/inputs/realsense_camera_topic.cpp b/vino_core_lib/src/inputs/realsense_camera_topic.cpp
similarity index 95%
rename from dynamic_vino_lib/src/inputs/realsense_camera_topic.cpp
rename to vino_core_lib/src/inputs/realsense_camera_topic.cpp
index 900ffa07..ebd941c5 100644
--- a/dynamic_vino_lib/src/inputs/realsense_camera_topic.cpp
+++ b/vino_core_lib/src/inputs/realsense_camera_topic.cpp
@@ -19,9 +19,9 @@
  * @file realsense_camera_topic.cpp
  */
 
-#include "dynamic_vino_lib/inputs/realsense_camera_topic.h"
+#include "vino_core_lib/inputs/realsense_camera_topic.h"
 #include <image_transport/image_transport.h>
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/slog.h"
 
 #include <cv_bridge/cv_bridge.h>
 
diff --git a/dynamic_vino_lib/src/inputs/standard_camera.cpp b/vino_core_lib/src/inputs/standard_camera.cpp
similarity index 96%
rename from dynamic_vino_lib/src/inputs/standard_camera.cpp
rename to vino_core_lib/src/inputs/standard_camera.cpp
index d8649144..46a883f4 100644
--- a/dynamic_vino_lib/src/inputs/standard_camera.cpp
+++ b/vino_core_lib/src/inputs/standard_camera.cpp
@@ -18,7 +18,7 @@
  * @brief a header file with declaration of StandardCamera class
  * @file standard_camera.cpp
  */
-#include "dynamic_vino_lib/inputs/standard_camera.h"
+#include "vino_core_lib/inputs/standard_camera.h"
 
 // StandardCamera
 bool Input::StandardCamera::initialize()
diff --git a/dynamic_vino_lib/src/inputs/video_input.cpp b/vino_core_lib/src/inputs/video_input.cpp
similarity index 96%
rename from dynamic_vino_lib/src/inputs/video_input.cpp
rename to vino_core_lib/src/inputs/video_input.cpp
index d493731b..dfba5c19 100644
--- a/dynamic_vino_lib/src/inputs/video_input.cpp
+++ b/vino_core_lib/src/inputs/video_input.cpp
@@ -21,7 +21,7 @@
 
 #include <string>
 
-#include "dynamic_vino_lib/inputs/video_input.h"
+#include "vino_core_lib/inputs/video_input.h"
 
 // Video
 Input::Video::Video(const std::string& video)
diff --git a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp b/vino_core_lib/src/models/age_gender_detection_model.cpp
similarity index 97%
rename from dynamic_vino_lib/src/models/age_gender_detection_model.cpp
rename to vino_core_lib/src/models/age_gender_detection_model.cpp
index 2a1122ad..c47351b8 100644
--- a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp
+++ b/vino_core_lib/src/models/age_gender_detection_model.cpp
@@ -22,8 +22,8 @@
 #include <string>
 #include <utility>
 
-#include "dynamic_vino_lib/models/age_gender_detection_model.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/models/age_gender_detection_model.h"
+#include "vino_core_lib/slog.h"
 
 // Validated Age Gender Classification Network
 Models::AgeGenderDetectionModel::AgeGenderDetectionModel(
diff --git a/dynamic_vino_lib/src/models/base_model.cpp b/vino_core_lib/src/models/base_model.cpp
similarity index 97%
rename from dynamic_vino_lib/src/models/base_model.cpp
rename to vino_core_lib/src/models/base_model.cpp
index 08153777..11c81c5a 100644
--- a/dynamic_vino_lib/src/models/base_model.cpp
+++ b/vino_core_lib/src/models/base_model.cpp
@@ -24,8 +24,8 @@
 #include <memory>
 #include <string>
 
-#include "dynamic_vino_lib/models/base_model.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/models/base_model.h"
+#include "vino_core_lib/slog.h"
 
 // Validated Base Network
 Models::BaseModel::BaseModel(const std::string& model_loc, int input_num,
diff --git a/dynamic_vino_lib/src/models/emotion_detection_model.cpp b/vino_core_lib/src/models/emotion_detection_model.cpp
similarity index 96%
rename from dynamic_vino_lib/src/models/emotion_detection_model.cpp
rename to vino_core_lib/src/models/emotion_detection_model.cpp
index d1e6150d..e4700b52 100644
--- a/dynamic_vino_lib/src/models/emotion_detection_model.cpp
+++ b/vino_core_lib/src/models/emotion_detection_model.cpp
@@ -20,8 +20,8 @@
  */
 #include <string>
 
-#include "dynamic_vino_lib/models/emotion_detection_model.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/models/emotion_detection_model.h"
+#include "vino_core_lib/slog.h"
 
 // Validated Emotions Detection Network
 Models::EmotionDetectionModel::EmotionDetectionModel(
diff --git a/dynamic_vino_lib/src/models/face_detection_model.cpp b/vino_core_lib/src/models/face_detection_model.cpp
similarity index 97%
rename from dynamic_vino_lib/src/models/face_detection_model.cpp
rename to vino_core_lib/src/models/face_detection_model.cpp
index caadb0e2..1b0c74d4 100644
--- a/dynamic_vino_lib/src/models/face_detection_model.cpp
+++ b/vino_core_lib/src/models/face_detection_model.cpp
@@ -22,8 +22,8 @@
 
 #include <string>
 
-#include "dynamic_vino_lib/models/face_detection_model.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/models/face_detection_model.h"
+#include "vino_core_lib/slog.h"
 
 // Validated Face Detection Network
 Models::FaceDetectionModel::FaceDetectionModel(const std::string& model_loc,
diff --git a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp b/vino_core_lib/src/models/head_pose_detection_model.cpp
similarity index 97%
rename from dynamic_vino_lib/src/models/head_pose_detection_model.cpp
rename to vino_core_lib/src/models/head_pose_detection_model.cpp
index 2012deb2..ad67c3e3 100644
--- a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp
+++ b/vino_core_lib/src/models/head_pose_detection_model.cpp
@@ -23,8 +23,8 @@
 #include <map>
 #include <string>
 
-#include "dynamic_vino_lib/models/head_pose_detection_model.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/models/head_pose_detection_model.h"
+#include "vino_core_lib/slog.h"
 
 // Validated Head Pose Network
 Models::HeadPoseDetectionModel::HeadPoseDetectionModel(
diff --git a/vino_core_lib/src/models/human_pose_estimation_model.cpp b/vino_core_lib/src/models/human_pose_estimation_model.cpp
new file mode 100644
index 00000000..0875086a
--- /dev/null
+++ b/vino_core_lib/src/models/human_pose_estimation_model.cpp
@@ -0,0 +1,140 @@
+// TODO add license
+
+/*
+Model URL: https://docs.openvinotoolkit.org/2019_R3.1/_models_intel_human_pose_estimation_0001_description_human_pose_estimation_0001.html
+*/
+
+#include <string>
+#include <sstream>
+
+#include "vino_core_lib/models/human_pose_estimation_model.h"
+#include "vino_core_lib/slog.h"
+
+Models::HumanPoseEstimationModel::HumanPoseEstimationModel(
+                                               const std::string& model_loc,
+                                               int input_num, int output_num,
+                                               int max_batch_size)
+    : BaseModel(model_loc, input_num, output_num, max_batch_size)
+{
+}
+
+void Models::HumanPoseEstimationModel::setLayerProperty(
+    InferenceEngine::CNNNetReader::Ptr net_reader)
+{
+  // set input property
+  InferenceEngine::InputsDataMap input_info_map(
+  net_reader->getNetwork().getInputsInfo());
+  InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second;
+  input_info->setPrecision(InferenceEngine::Precision::U8); // It's an image
+  input_info->setLayout(InferenceEngine::Layout::NCHW);     // No idea.
+  // set output property
+  InferenceEngine::OutputsDataMap output_info_map(
+      net_reader->getNetwork().getOutputsInfo());
+  auto it = output_info_map.begin();
+  InferenceEngine::DataPtr keypoints_output_ptr = (it++)->second;
+  InferenceEngine::DataPtr heatmap_output_ptr = (it++)->second;
+  keypoints_output_ptr->setPrecision(InferenceEngine::Precision::FP32);
+  keypoints_output_ptr->setLayout(InferenceEngine::Layout::NCHW);
+  heatmap_output_ptr->setPrecision(InferenceEngine::Precision::FP32);
+  heatmap_output_ptr->setLayout(InferenceEngine::Layout::NCHW);
+  // set input and output layer name
+  input_ = input_info_map.begin()->first;
+  output_keypoints_ = keypoints_output_ptr->name;
+  output_heatmap_ = heatmap_output_ptr->name;
+}
+
+void Models::HumanPoseEstimationModel::checkLayerProperty(
+    const InferenceEngine::CNNNetReader::Ptr& net_reader)
+{
+  slog::info << "Checking Human Pose Estimation outputs" << slog::endl;
+  InferenceEngine::OutputsDataMap output_info(
+      net_reader->getNetwork().getOutputsInfo());
+  auto it = output_info.begin();
+  InferenceEngine::DataPtr paf_output_ptr = (it++)->second;
+  InferenceEngine::DataPtr heatmap_output_ptr = (it++)->second;
+  
+  if (paf_output_ptr->getCreatorLayer().lock()->type != "Convolution")
+  {
+    throw std::logic_error("In Human Pose Estimation network, PAF layer (" +
+                           paf_output_ptr->getCreatorLayer().lock()->name +
+                           ") should be a Convolution, but was: " +
+                           paf_output_ptr->getCreatorLayer().lock()->type);
+  }
+  if (heatmap_output_ptr->getCreatorLayer().lock()->type != "Convolution")
+  {
+    throw std::logic_error("In Human Pose Estimation network, heatmap layer (" +
+                           heatmap_output_ptr->getCreatorLayer().lock()->name +
+                           ") should be a Convolution, but was: " +
+                           heatmap_output_ptr->getCreatorLayer().lock()->type);
+  }
+
+  if (paf_output_ptr->getCreatorLayer().lock()->outData.size() != 1)
+  {
+    throw std::logic_error(
+      "In Human Pose Estimation network, PAF layer (" +
+      paf_output_ptr->getCreatorLayer().lock()->name +
+      ") should have 1 output, but had: " +
+      std::to_string(paf_output_ptr->getCreatorLayer().lock()->outData.size()));
+  }
+  if (heatmap_output_ptr->getCreatorLayer().lock()->outData.size() != 1)
+  {
+    throw std::logic_error(
+      "In Human Pose Estimation network, Heatmap layer (" +
+      heatmap_output_ptr->getCreatorLayer().lock()->name +
+      ") should have 1 output, but had: " +
+      std::to_string(heatmap_output_ptr->getCreatorLayer().lock()->outData.size()));
+  }
+
+  if (paf_output_ptr->getCreatorLayer().lock()->outData[0]->dims.size() == 4 && 
+      paf_output_ptr->getCreatorLayer().lock()->outData[0]->dims[2] == 19)
+  {
+    std::swap(paf_output_ptr, heatmap_output_ptr);
+  }
+
+  auto pafDims = paf_output_ptr->getCreatorLayer().lock()->outData[0]->dims;
+  auto heatDims = heatmap_output_ptr->getCreatorLayer().lock()->outData[0]->dims;
+
+  if (pafDims.size() != 4 || pafDims[0] != 57 || pafDims[1] != 32
+      || pafDims[2] != 38 || pafDims[3] != 1)
+  {
+    std::ostringstream size;
+    size << "[ ";
+    for (size_t s : pafDims)
+    {
+      size << s << " ";
+    }
+    size << "]";
+    throw std::logic_error(
+      "In Human Pose Estimation network, PAF layer (" +
+      paf_output_ptr->getCreatorLayer().lock()->name +
+      ") should have output size of [ 57 32 38 1 ], but had: " + size.str());
+  }
+
+  if (heatDims.size() != 4 || heatDims[0] != 57 || heatDims[1] != 32
+      || heatDims[2] != 19 || heatDims[3] != 1)
+  {
+    std::ostringstream size;
+    size << "[ ";
+    for (size_t s : heatDims)
+    {
+      size << s << " ";
+    }
+    size << "]";
+    throw std::logic_error(
+      "In Human Pose Estimation network, Heatmap layer (" +
+      heatmap_output_ptr->getCreatorLayer().lock()->name +
+      ") should have output size of [ 57 32 19 1 ], but had: " + size.str());
+  }
+
+  slog::info << "PAF layer: " 
+             << paf_output_ptr->getCreatorLayer().lock()->name
+             << slog::endl;
+  slog::info << "Heatmap layer: "
+             << heatmap_output_ptr->getCreatorLayer().lock()->name 
+             << slog::endl;
+}
+
+const std::string Models::HumanPoseEstimationModel::getModelName() const
+{
+  return "Human Pose Estimation";
+}
\ No newline at end of file
diff --git a/dynamic_vino_lib/src/models/object_detection_model.cpp b/vino_core_lib/src/models/object_detection_model.cpp
similarity index 98%
rename from dynamic_vino_lib/src/models/object_detection_model.cpp
rename to vino_core_lib/src/models/object_detection_model.cpp
index e16ddc20..0a25c8e6 100644
--- a/dynamic_vino_lib/src/models/object_detection_model.cpp
+++ b/vino_core_lib/src/models/object_detection_model.cpp
@@ -18,8 +18,8 @@
  * @file object_detection_model.cpp
  */
 #include <string>
-#include "dynamic_vino_lib/models/object_detection_model.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/models/object_detection_model.h"
+#include "vino_core_lib/slog.h"
 // Validated Object Detection Network
 Models::ObjectDetectionModel::ObjectDetectionModel(const std::string& model_loc,
                                                int input_num, int output_num,
diff --git a/dynamic_vino_lib/src/models/object_segmentation_model.cpp b/vino_core_lib/src/models/object_segmentation_model.cpp
similarity index 96%
rename from dynamic_vino_lib/src/models/object_segmentation_model.cpp
rename to vino_core_lib/src/models/object_segmentation_model.cpp
index 2feb29c7..20dbdb24 100644
--- a/dynamic_vino_lib/src/models/object_segmentation_model.cpp
+++ b/vino_core_lib/src/models/object_segmentation_model.cpp
@@ -17,8 +17,8 @@
  * @file object_detection_model.cpp
  */
 #include <string>
-#include "dynamic_vino_lib/models/object_segmentation_model.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/models/object_segmentation_model.h"
+#include "vino_core_lib/slog.h"
 // Validated Object Detection Network
 Models::ObjectSegmentationModel::ObjectSegmentationModel(
   const std::string & model_loc,
diff --git a/dynamic_vino_lib/src/models/person_reidentification_model.cpp b/vino_core_lib/src/models/person_reidentification_model.cpp
similarity index 94%
rename from dynamic_vino_lib/src/models/person_reidentification_model.cpp
rename to vino_core_lib/src/models/person_reidentification_model.cpp
index 7367e212..3a147bdf 100644
--- a/dynamic_vino_lib/src/models/person_reidentification_model.cpp
+++ b/vino_core_lib/src/models/person_reidentification_model.cpp
@@ -17,8 +17,8 @@
  * @file person_reidentification_model.cpp
  */
 #include <string>
-#include "dynamic_vino_lib/models/person_reidentification_model.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/models/person_reidentification_model.h"
+#include "vino_core_lib/slog.h"
 // Validated Object Detection Network
 Models::PersonReidentificationModel::PersonReidentificationModel(
   const std::string & model_loc, int input_num, int output_num, int max_batch_size)
diff --git a/dynamic_vino_lib/src/outputs/base_output.cpp b/vino_core_lib/src/outputs/base_output.cpp
similarity index 90%
rename from dynamic_vino_lib/src/outputs/base_output.cpp
rename to vino_core_lib/src/outputs/base_output.cpp
index a3248c8d..b22192c9 100644
--- a/dynamic_vino_lib/src/outputs/base_output.cpp
+++ b/vino_core_lib/src/outputs/base_output.cpp
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#include "dynamic_vino_lib/outputs/base_output.h"
-#include "dynamic_vino_lib/pipeline.h"
+#include "vino_core_lib/outputs/base_output.h"
+#include "vino_core_lib/pipeline.h"
 
 void Outputs::BaseOutput::setPipeline(Pipeline* const pipeline)
 {
diff --git a/dynamic_vino_lib/src/outputs/image_window_output.cpp b/vino_core_lib/src/outputs/image_window_output.cpp
similarity index 87%
rename from dynamic_vino_lib/src/outputs/image_window_output.cpp
rename to vino_core_lib/src/outputs/image_window_output.cpp
index 3a6f2df1..bcd6125d 100644
--- a/dynamic_vino_lib/src/outputs/image_window_output.cpp
+++ b/vino_core_lib/src/outputs/image_window_output.cpp
@@ -19,11 +19,11 @@
  * @file image_window_output.cpp
  */
 
-#include "dynamic_vino_lib/outputs/image_window_output.h"
+#include "vino_core_lib/outputs/image_window_output.h"
 #include <algorithm>
 #include <string>
 #include <vector>
-#include "dynamic_vino_lib/pipeline.h"
+#include "vino_core_lib/pipeline.h"
 
 Outputs::ImageWindowOutput::ImageWindowOutput(const std::string& window_name,
                                               int focal_length)
@@ -49,7 +49,7 @@ void Outputs::ImageWindowOutput::feedFrame(const cv::Mat& frame)
 }
 
 void Outputs::ImageWindowOutput::accept(
-    const std::vector<dynamic_vino_lib::FaceDetectionResult>& results)
+    const std::vector<vino_core_lib::FaceDetectionResult>& results)
 {
   // std::cout<<"call face"<<std::endl;
   if (outputs_.size() == 0)
@@ -80,7 +80,7 @@ void Outputs::ImageWindowOutput::accept(
 }
 
 void Outputs::ImageWindowOutput::accept(
-    const std::vector<dynamic_vino_lib::EmotionsResult>& results)
+    const std::vector<vino_core_lib::EmotionsResult>& results)
 {
   if (outputs_.size() == 0)
   {
@@ -102,7 +102,7 @@ void Outputs::ImageWindowOutput::accept(
 }
 
 void Outputs::ImageWindowOutput::accept(
-    const std::vector<dynamic_vino_lib::AgeGenderResult>& results)
+    const std::vector<vino_core_lib::AgeGenderResult>& results)
 {
   if (outputs_.size() == 0)
   {
@@ -168,7 +168,7 @@ cv::Mat Outputs::ImageWindowOutput::getRotationTransform(double yaw,
 }
 
 void Outputs::ImageWindowOutput::accept(
-    const std::vector<dynamic_vino_lib::HeadPoseResult>& results)
+    const std::vector<vino_core_lib::HeadPoseResult>& results)
 {
   if (outputs_.size() == 0)
   {
@@ -203,7 +203,7 @@ void Outputs::ImageWindowOutput::accept(
 }
 
 void Outputs::ImageWindowOutput::accept(
-    const std::vector<dynamic_vino_lib::ObjectDetectionResult>& results)
+    const std::vector<vino_core_lib::ObjectDetectionResult>& results)
 {
   // std::cout<<"call"<<std::endl;
   if (outputs_.size() == 0)
@@ -235,7 +235,7 @@ void Outputs::ImageWindowOutput::accept(
 }
 
 void Outputs::ImageWindowOutput::mergeMask(
-  const std::vector<dynamic_vino_lib::ObjectSegmentationResult> & results)
+  const std::vector<vino_core_lib::ObjectSegmentationResult> & results)
 {
   std::map<std::string, int> class_color;
   for (unsigned i = 0; i < results.size(); i++) {
@@ -266,7 +266,7 @@ void Outputs::ImageWindowOutput::mergeMask(
 }
 
 void Outputs::ImageWindowOutput::accept(
-  const std::vector<dynamic_vino_lib::ObjectSegmentationResult> & results)
+  const std::vector<vino_core_lib::ObjectSegmentationResult> & results)
 {
   if (outputs_.size() == 0) {
     initOutputs(results.size());
@@ -305,7 +305,7 @@ unsigned Outputs::ImageWindowOutput::findOutput(
 }
 
 void Outputs::ImageWindowOutput::accept(
-  const std::vector<dynamic_vino_lib::PersonReidentificationResult> & results)
+  const std::vector<vino_core_lib::PersonReidentificationResult> & results)
 {
   for (unsigned i = 0; i < results.size(); i++) {
     cv::Rect result_rect = results[i].getLocation();
@@ -315,6 +315,22 @@ void Outputs::ImageWindowOutput::accept(
   }
 }
 
+void Outputs::ImageWindowOutput::accept(
+  const std::vector<vino_core_lib::HumanPoseResult> & results)
+{
+  OutputData output;
+  output.scalar = cv::Scalar(255, 0, 0);
+  for (unsigned i = 0; i < results.size(); i++) {
+    cv::Rect result_rect = results[i].getLocation();
+    auto score = std::to_string(results[i].getScore());
+
+    output.rect = result_rect;
+    output.desc = "Pose " + std::to_string(i) + " [" + score.substr(0, score.find(".") + 2) + "]";
+    output.kp = results[i].getKeypoints();
+    outputs_.push_back(output);
+  }
+}
+
 void Outputs::ImageWindowOutput::decorateFrame()
 {
   if (getPipeline()->getParameters()->isGetFps())
@@ -336,6 +352,17 @@ void Outputs::ImageWindowOutput::decorateFrame()
     cv::line(frame_, o.hp_cp, o.hp_y, cv::Scalar(0, 255, 0), 2);
     cv::line(frame_, o.hp_zs, o.hp_ze, cv::Scalar(255, 0, 0), 2);
     cv::circle(frame_, o.hp_ze, 3, cv::Scalar(255, 0, 0), 2);
+
+    for (auto kp : o.kp)
+    {
+      if (kp.x >= 0)
+      {
+        std::string score = std::to_string(kp.score).substr(0, 3);
+        cv::circle(frame_, kp, 3, cv::Scalar(255, 0, 0), cv::FILLED);
+        cv::putText(frame_, score, kp + cv::Point2f(5, 0),
+                cv::FONT_HERSHEY_COMPLEX_SMALL, 0.5, o.scalar);
+      }
+    }
   }
 
   outputs_.clear();
diff --git a/dynamic_vino_lib/src/outputs/ros_service_output.cpp b/vino_core_lib/src/outputs/ros_service_output.cpp
similarity index 82%
rename from dynamic_vino_lib/src/outputs/ros_service_output.cpp
rename to vino_core_lib/src/outputs/ros_service_output.cpp
index f05c21d7..d878434b 100644
--- a/dynamic_vino_lib/src/outputs/ros_service_output.cpp
+++ b/vino_core_lib/src/outputs/ros_service_output.cpp
@@ -20,7 +20,7 @@
 #include <vector>
 #include <string>
 #include <memory>
-#include "dynamic_vino_lib/outputs/ros_service_output.h"
+#include "vino_core_lib/outputs/ros_service_output.h"
 #include "cv_bridge/cv_bridge.h"
 #include <object_msgs/ObjectsInBoxes.h>
 // Outputs::RosServiceOutput::RosServiceOutput()
@@ -51,7 +51,7 @@ void Outputs::RosServiceOutput::setResponseForFace(
 }
 
 void Outputs::RosServiceOutput::setServiceResponse(
-  boost::shared_ptr<people_msgs::AgeGenderSrv::Response> response)
+  boost::shared_ptr<vino_people_msgs::AgeGenderSrv::Response> response)
 {
   if (age_gender_msg_ptr_ != nullptr) {
     response->age_gender.objects = age_gender_msg_ptr_->objects;
@@ -59,7 +59,7 @@ void Outputs::RosServiceOutput::setServiceResponse(
 }
 
 void Outputs::RosServiceOutput::setServiceResponse(
-  boost::shared_ptr<people_msgs::EmotionSrv::Response> response)
+  boost::shared_ptr<vino_people_msgs::EmotionSrv::Response> response)
 {
   if (emotions_msg_ptr_ != nullptr) {
     response->emotion.emotions = emotions_msg_ptr_->emotions;
@@ -67,7 +67,7 @@ void Outputs::RosServiceOutput::setServiceResponse(
 }
 
 void Outputs::RosServiceOutput::setServiceResponse(
-  boost::shared_ptr<people_msgs::HeadPoseSrv::Response> response)
+  boost::shared_ptr<vino_people_msgs::HeadPoseSrv::Response> response)
 {
   if (headpose_msg_ptr_ != nullptr) {
     response->headpose.headposes = headpose_msg_ptr_->headposes;
@@ -75,7 +75,7 @@ void Outputs::RosServiceOutput::setServiceResponse(
 }
 
 void Outputs::RosServiceOutput::setServiceResponse(
-  boost::shared_ptr<people_msgs::ObjectsInMasksSrv::Response> response)
+  boost::shared_ptr<vino_people_msgs::ObjectsInMasksSrv::Response> response)
   {
     slog::info << "in ObjectsInMasks service::Response ...";
     if (segmented_object_msg_ptr_ != nullptr) {
@@ -83,7 +83,7 @@ void Outputs::RosServiceOutput::setServiceResponse(
     }
   }
 void Outputs::RosServiceOutput::setServiceResponse(
-  boost::shared_ptr<people_msgs::ReidentificationSrv::Response> response)
+  boost::shared_ptr<vino_people_msgs::ReidentificationSrv::Response> response)
   {
     slog::info << "in Reidentification service::Response ...";
     if (person_reid_msg_ptr_ != nullptr) {
@@ -92,7 +92,17 @@ void Outputs::RosServiceOutput::setServiceResponse(
   }
 
 void Outputs::RosServiceOutput::setServiceResponse(
-  boost::shared_ptr<people_msgs::PeopleSrv::Response> response)
+  boost::shared_ptr<vino_people_msgs::HumanPoseSrv::Response> response)
+{
+  slog::info << "in Human Pose Estimation service::Response ...";
+  if (human_pose_msg_ptr_ != nullptr) {
+    response->humanposes = human_pose_msg_ptr_->humanposes;
+  }
+  slog::info << "DONE!" << slog::endl;
+}
+
+void Outputs::RosServiceOutput::setServiceResponse(
+  boost::shared_ptr<vino_people_msgs::PeopleSrv::Response> response)
 {
   slog::info << "in People::Response ...";
   if (faces_msg_ptr_ != nullptr) {
@@ -126,4 +136,5 @@ void Outputs::RosServiceOutput::clearData()
   headpose_msg_ptr_ = nullptr;
   segmented_object_msg_ptr_ = nullptr;
   person_reid_msg_ptr_ = nullptr;
+  human_pose_msg_ptr_ = nullptr;
 }
diff --git a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp b/vino_core_lib/src/outputs/ros_topic_output.cpp
similarity index 69%
rename from dynamic_vino_lib/src/outputs/ros_topic_output.cpp
rename to vino_core_lib/src/outputs/ros_topic_output.cpp
index 3dab5174..3ef55bc3 100644
--- a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp
+++ b/vino_core_lib/src/outputs/ros_topic_output.cpp
@@ -19,28 +19,31 @@
  * @file ros_topic_output.cpp
  */
 
-#include "dynamic_vino_lib/outputs/ros_topic_output.h"
+#include "vino_core_lib/outputs/ros_topic_output.h"
 #include <chrono>
 #include <memory>
 #include <string>
 #include <vector>
+#include <geometry_msgs/Point.h>
 
 Outputs::RosTopicOutput::RosTopicOutput()
 {
   pub_face_ =
       nh_.advertise<object_msgs::ObjectsInBoxes>("/openvino_toolkit/faces", 16);
-  pub_emotion_ = nh_.advertise<people_msgs::EmotionsStamped>(
+  pub_emotion_ = nh_.advertise<vino_people_msgs::EmotionsStamped>(
       "/openvino_toolkit/emotions", 16);
-  pub_age_gender_ = nh_.advertise<people_msgs::AgeGenderStamped>(
+  pub_age_gender_ = nh_.advertise<vino_people_msgs::AgeGenderStamped>(
       "/openvino_toolkit/age_genders", 16);
-  pub_headpose_ = nh_.advertise<people_msgs::HeadPoseStamped>(
+  pub_headpose_ = nh_.advertise<vino_people_msgs::HeadPoseStamped>(
       "/openvino_toolkit/headposes", 16);
   pub_object_ = nh_.advertise<object_msgs::ObjectsInBoxes>(
       "/openvino_toolkit/detected_objects", 16);
-  pub_person_reid_ = nh_.advertise<people_msgs::ReidentificationStamped>(
+  pub_person_reid_ = nh_.advertise<vino_people_msgs::ReidentificationStamped>(
       "/openvino_toolkit/reidentified_persons", 16);
-  pub_segmented_object_ = nh_.advertise<people_msgs::ObjectsInMasks>(
+  pub_segmented_object_ = nh_.advertise<vino_people_msgs::ObjectsInMasks>(
       "/openvino_toolkit/segmented_obejcts", 16);
+  pub_human_pose_ = nh_.advertise<vino_people_msgs::HumanPoseStamped>(
+      "/openvino_toolkit/human_poses", 16);
 
   emotions_msg_ptr_ = NULL;
   faces_msg_ptr_ = NULL;
@@ -49,16 +52,17 @@ Outputs::RosTopicOutput::RosTopicOutput()
   object_msg_ptr_ = NULL;
   person_reid_msg_ptr_ = NULL;
   segmented_object_msg_ptr_ = NULL;
+  human_pose_msg_ptr_ = NULL;
 }
 
 void Outputs::RosTopicOutput::feedFrame(const cv::Mat& frame) {}
 
 
 void Outputs::RosTopicOutput::accept(
-  const std::vector<dynamic_vino_lib::PersonReidentificationResult> & results)
+  const std::vector<vino_core_lib::PersonReidentificationResult> & results)
 {
-  person_reid_msg_ptr_ = std::make_shared<people_msgs::ReidentificationStamped>();
-  people_msgs::Reidentification person;
+  person_reid_msg_ptr_ = std::make_shared<vino_people_msgs::ReidentificationStamped>();
+  vino_people_msgs::Reidentification person;
   for (auto & r : results) {
     // slog::info << ">";
     auto loc = r.getLocation();
@@ -72,10 +76,10 @@ void Outputs::RosTopicOutput::accept(
 }
 
 void Outputs::RosTopicOutput::accept(
-  const std::vector<dynamic_vino_lib::ObjectSegmentationResult> & results)
+  const std::vector<vino_core_lib::ObjectSegmentationResult> & results)
 {
-  segmented_object_msg_ptr_ = std::make_shared<people_msgs::ObjectsInMasks>();
-  people_msgs::ObjectInMask object;
+  segmented_object_msg_ptr_ = std::make_shared<vino_people_msgs::ObjectsInMasks>();
+  vino_people_msgs::ObjectInMask object;
   for (auto & r : results) {
     // slog::info << ">";
     auto loc = r.getLocation();
@@ -97,7 +101,7 @@ void Outputs::RosTopicOutput::accept(
 
 
 void Outputs::RosTopicOutput::accept(
-    const std::vector<dynamic_vino_lib::FaceDetectionResult>& results)
+    const std::vector<vino_core_lib::FaceDetectionResult>& results)
 {
   faces_msg_ptr_ = std::make_shared<object_msgs::ObjectsInBoxes>();
 
@@ -116,11 +120,11 @@ void Outputs::RosTopicOutput::accept(
 }
 
 void Outputs::RosTopicOutput::accept(
-    const std::vector<dynamic_vino_lib::EmotionsResult>& results)
+    const std::vector<vino_core_lib::EmotionsResult>& results)
 {
-  emotions_msg_ptr_ = std::make_shared<people_msgs::EmotionsStamped>();
+  emotions_msg_ptr_ = std::make_shared<vino_people_msgs::EmotionsStamped>();
 
-  people_msgs::Emotion emotion;
+  vino_people_msgs::Emotion emotion;
   for (auto r : results)
   {
     auto loc = r.getLocation();
@@ -134,11 +138,11 @@ void Outputs::RosTopicOutput::accept(
 }
 
 void Outputs::RosTopicOutput::accept(
-    const std::vector<dynamic_vino_lib::AgeGenderResult>& results)
+    const std::vector<vino_core_lib::AgeGenderResult>& results)
 {
-  age_gender_msg_ptr_ = std::make_shared<people_msgs::AgeGenderStamped>();
+  age_gender_msg_ptr_ = std::make_shared<vino_people_msgs::AgeGenderStamped>();
 
-  people_msgs::AgeGender ag;
+  vino_people_msgs::AgeGender ag;
   for (auto r : results)
   {
     auto loc = r.getLocation();
@@ -163,11 +167,11 @@ void Outputs::RosTopicOutput::accept(
 }
 
 void Outputs::RosTopicOutput::accept(
-    const std::vector<dynamic_vino_lib::HeadPoseResult>& results)
+    const std::vector<vino_core_lib::HeadPoseResult>& results)
 {
-  headpose_msg_ptr_ = std::make_shared<people_msgs::HeadPoseStamped>();
+  headpose_msg_ptr_ = std::make_shared<vino_people_msgs::HeadPoseStamped>();
 
-  people_msgs::HeadPose hp;
+  vino_people_msgs::HeadPose hp;
   for (auto r : results)
   {
     auto loc = r.getLocation();
@@ -183,7 +187,7 @@ void Outputs::RosTopicOutput::accept(
 }
 
 void Outputs::RosTopicOutput::accept(
-    const std::vector<dynamic_vino_lib::ObjectDetectionResult>& results)
+    const std::vector<vino_core_lib::ObjectDetectionResult>& results)
 {
   object_msg_ptr_ = std::make_shared<object_msgs::ObjectsInBoxes>();
 
@@ -201,11 +205,48 @@ void Outputs::RosTopicOutput::accept(
   }
 }
 
+void Outputs::RosTopicOutput::accept(
+    const std::vector<vino_core_lib::HumanPoseResult>& results)
+{
+  human_pose_msg_ptr_ = std::make_shared<vino_people_msgs::HumanPoseStamped>();
+
+  for (auto r : results)
+  {
+    vino_people_msgs::HumanPose hp;
+
+    auto loc = r.getLocation();
+    hp.roi.x_offset = loc.x;
+    hp.roi.y_offset = loc.y;
+    hp.roi.width = loc.width;
+    hp.roi.height = loc.height;
+    hp.score = r.getScore();
+    
+    auto p = vino_people_msgs::HumanPoseKeypoint();// geometry_msgs::Point();
+    p.position.z = -1;
+    for (auto kp : r.keypoints)
+    {
+      p.position.x = kp.x;
+      p.position.y = kp.y;
+      if (kp.x >= 0)
+      {
+        p.score = kp.score;
+      }
+      else
+      {
+        p.score = 0;
+      }
+      
+      hp.keypoints.push_back(p);
+    }
+    human_pose_msg_ptr_->humanposes.push_back(hp);
+  }
+}
+
 void Outputs::RosTopicOutput::handleOutput()
 {
   std_msgs::Header header = getHeader();
   if (person_reid_msg_ptr_ != nullptr) {
-    people_msgs::ReidentificationStamped person_reid_msg;
+    vino_people_msgs::ReidentificationStamped person_reid_msg;
     person_reid_msg.header = header;
     person_reid_msg.reidentified_vector.swap(person_reid_msg_ptr_->reidentified_vector);
     pub_person_reid_.publish(person_reid_msg);
@@ -213,7 +254,7 @@ void Outputs::RosTopicOutput::handleOutput()
   }
   if (segmented_object_msg_ptr_ != nullptr) {
     // slog::info << "publishing faces outputs." << slog::endl;
-    people_msgs::ObjectsInMasks segmented_msg;
+    vino_people_msgs::ObjectsInMasks segmented_msg;
     segmented_msg.header = header;
     segmented_msg.objects_vector.swap(segmented_object_msg_ptr_->objects_vector);
     pub_segmented_object_.publish(segmented_msg);
@@ -230,7 +271,7 @@ void Outputs::RosTopicOutput::handleOutput()
   }
   if (emotions_msg_ptr_ != nullptr)
   {
-    people_msgs::EmotionsStamped emotions_msg;
+    vino_people_msgs::EmotionsStamped emotions_msg;
     emotions_msg.header = header;
     emotions_msg.emotions.swap(emotions_msg_ptr_->emotions);
 
@@ -239,7 +280,7 @@ void Outputs::RosTopicOutput::handleOutput()
   }
   if (age_gender_msg_ptr_ != nullptr)
   {
-    people_msgs::AgeGenderStamped age_gender_msg;
+    vino_people_msgs::AgeGenderStamped age_gender_msg;
     age_gender_msg.header = header;
     age_gender_msg.objects.swap(age_gender_msg_ptr_->objects);
 
@@ -248,7 +289,7 @@ void Outputs::RosTopicOutput::handleOutput()
   }
   if (headpose_msg_ptr_ != nullptr)
   {
-    people_msgs::HeadPoseStamped headpose_msg;
+    vino_people_msgs::HeadPoseStamped headpose_msg;
     headpose_msg.header = header;
     headpose_msg.headposes.swap(headpose_msg_ptr_->headposes);
 
@@ -264,7 +305,7 @@ void Outputs::RosTopicOutput::handleOutput()
     pub_object_.publish(object_msg);
     object_msg_ptr_ = nullptr;
   }
-  if (object_msg_ptr_ != nullptr)
+  if (object_msg_ptr_ != nullptr) // TODO: verify and remove duplicate code.
   {
     object_msgs::ObjectsInBoxes object_msg;
     object_msg.header = header;
@@ -273,6 +314,15 @@ void Outputs::RosTopicOutput::handleOutput()
     pub_object_.publish(object_msg);
     object_msg_ptr_ = nullptr;
   }
+  if (human_pose_msg_ptr_ != nullptr)
+  {
+    vino_people_msgs::HumanPoseStamped human_pose_msg;
+    human_pose_msg.header = header;
+    human_pose_msg.humanposes.swap(human_pose_msg_ptr_->humanposes);
+
+    pub_human_pose_.publish(human_pose_msg);
+    human_pose_msg_ptr_ = nullptr;
+  }
 }
 
 std_msgs::Header Outputs::RosTopicOutput::getHeader()
diff --git a/dynamic_vino_lib/src/outputs/rviz_output.cpp b/vino_core_lib/src/outputs/rviz_output.cpp
similarity index 73%
rename from dynamic_vino_lib/src/outputs/rviz_output.cpp
rename to vino_core_lib/src/outputs/rviz_output.cpp
index 64f99b92..e23c38fc 100644
--- a/dynamic_vino_lib/src/outputs/rviz_output.cpp
+++ b/vino_core_lib/src/outputs/rviz_output.cpp
@@ -22,8 +22,8 @@
 #include <vector>
 #include <memory>
 #include "cv_bridge/cv_bridge.h"
-#include "dynamic_vino_lib/pipeline.h"
-#include "dynamic_vino_lib/outputs/rviz_output.h"
+#include "vino_core_lib/pipeline.h"
+#include "vino_core_lib/outputs/rviz_output.h"
 
 Outputs::RvizOutput::RvizOutput()
 {
@@ -37,37 +37,41 @@ void Outputs::RvizOutput::feedFrame(const cv::Mat & frame)
   image_window_output_->feedFrame(frame);
 }
 
-void Outputs::RvizOutput::accept(const std::vector<dynamic_vino_lib::FaceDetectionResult> & results)
+void Outputs::RvizOutput::accept(const std::vector<vino_core_lib::FaceDetectionResult> & results)
 {
   image_window_output_->accept(results);
 }
 
 void Outputs::RvizOutput::accept(
-  const std::vector<dynamic_vino_lib::ObjectDetectionResult> & results)
+  const std::vector<vino_core_lib::ObjectDetectionResult> & results)
 {
   image_window_output_->accept(results);
 }
 
-void Outputs::RvizOutput::accept(const std::vector<dynamic_vino_lib::EmotionsResult> & results)
+void Outputs::RvizOutput::accept(const std::vector<vino_core_lib::EmotionsResult> & results)
 {
   image_window_output_->accept(results);
 }
 
-void Outputs::RvizOutput::accept(const std::vector<dynamic_vino_lib::AgeGenderResult> & results)
+void Outputs::RvizOutput::accept(const std::vector<vino_core_lib::AgeGenderResult> & results)
 {
   image_window_output_->accept(results);
 }
 
-void Outputs::RvizOutput::accept(const std::vector<dynamic_vino_lib::HeadPoseResult> & results)
+void Outputs::RvizOutput::accept(const std::vector<vino_core_lib::HeadPoseResult> & results)
 {
   image_window_output_->accept(results);
 }
 
-void Outputs::RvizOutput::accept(const std::vector<dynamic_vino_lib::ObjectSegmentationResult>& results)
+void Outputs::RvizOutput::accept(const std::vector<vino_core_lib::ObjectSegmentationResult>& results)
 {
   image_window_output_->accept(results);
 }
-void Outputs::RvizOutput::accept(const std::vector<dynamic_vino_lib::PersonReidentificationResult> & results)
+void Outputs::RvizOutput::accept(const std::vector<vino_core_lib::PersonReidentificationResult> & results)
+{
+  image_window_output_->accept(results);
+}
+void Outputs::RvizOutput::accept(const std::vector<vino_core_lib::HumanPoseResult> & results)
 {
   image_window_output_->accept(results);
 }
diff --git a/dynamic_vino_lib/src/pipeline.cpp b/vino_core_lib/src/pipeline.cpp
similarity index 95%
rename from dynamic_vino_lib/src/pipeline.cpp
rename to vino_core_lib/src/pipeline.cpp
index 4da9fea4..17cb2d77 100644
--- a/dynamic_vino_lib/src/pipeline.cpp
+++ b/vino_core_lib/src/pipeline.cpp
@@ -24,7 +24,7 @@
 #include <utility>
 
 #include <vino_param_lib/param_manager.h>
-#include "dynamic_vino_lib/pipeline.h"
+#include "vino_core_lib/pipeline.h"
 
 Pipeline::Pipeline(const std::string& name)
 {
@@ -101,7 +101,7 @@ bool Pipeline::add(const std::string& name,
 }
 
 bool Pipeline::add(const std::string& parent, const std::string& name,
-                   std::shared_ptr<dynamic_vino_lib::BaseInference> inference)
+                   std::shared_ptr<vino_core_lib::BaseInference> inference)
 {
   if (name_to_detection_map_.find(parent) == name_to_detection_map_.end() &&
       input_device_name_ != parent)
@@ -116,13 +116,13 @@ bool Pipeline::add(const std::string& parent, const std::string& name,
 }
 
 bool Pipeline::add(const std::string& name,
-                   std::shared_ptr<dynamic_vino_lib::BaseInference> inference) {
+                   std::shared_ptr<vino_core_lib::BaseInference> inference) {
   if (name.empty()) {
     slog::err << "Item name can't be empty!" << slog::endl;
     return false;
   }
   
-  std::map<std::string, std::shared_ptr<dynamic_vino_lib::BaseInference>>::iterator it = name_to_detection_map_.find(name);
+  std::map<std::string, std::shared_ptr<vino_core_lib::BaseInference>>::iterator it = name_to_detection_map_.find(name);
   if (it != name_to_detection_map_.end()) {
     slog::warn << "inferance instance for [" << name << 
                   "] already exists, update it with new instance." << slog::endl;
@@ -267,7 +267,7 @@ void Pipeline::callback(const std::string& detection_name)
         auto next_detection_ptr = detection_ptr_iter->second;
         for (int i = 0; i < detection_ptr->getResultsLength(); ++i)
         {
-          const dynamic_vino_lib::Result* prev_result =
+          const vino_core_lib::Result* prev_result =
               detection_ptr->getLocationResult(i);
           auto clippedRect =
               prev_result->getLocation() & cv::Rect(0, 0, width_, height_);
diff --git a/dynamic_vino_lib/src/pipeline_manager.cpp b/vino_core_lib/src/pipeline_manager.cpp
similarity index 76%
rename from dynamic_vino_lib/src/pipeline_manager.cpp
rename to vino_core_lib/src/pipeline_manager.cpp
index 0e066d8f..f4228082 100644
--- a/dynamic_vino_lib/src/pipeline_manager.cpp
+++ b/vino_core_lib/src/pipeline_manager.cpp
@@ -24,27 +24,27 @@
 #include <utility>
 
 #include <vino_param_lib/param_manager.h>
-#include "dynamic_vino_lib/factory.h"
-#include "dynamic_vino_lib/inferences/age_gender_detection.h"
-#include "dynamic_vino_lib/inferences/emotions_detection.h"
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/inferences/head_pose_detection.h"
-#include "dynamic_vino_lib/inputs/image_input.h"
-#include "dynamic_vino_lib/inputs/realsense_camera.h"
-#include "dynamic_vino_lib/inputs/realsense_camera_topic.h"
-#include "dynamic_vino_lib/inputs/standard_camera.h"
-#include "dynamic_vino_lib/inputs/video_input.h"
-#include "dynamic_vino_lib/models/age_gender_detection_model.h"
-#include "dynamic_vino_lib/models/emotion_detection_model.h"
-#include "dynamic_vino_lib/models/face_detection_model.h"
-#include "dynamic_vino_lib/models/head_pose_detection_model.h"
-#include "dynamic_vino_lib/outputs/image_window_output.h"
-#include "dynamic_vino_lib/outputs/ros_topic_output.h"
-#include "dynamic_vino_lib/outputs/rviz_output.h"
-#include "dynamic_vino_lib/outputs/ros_service_output.h"
-#include "dynamic_vino_lib/pipeline.h"
-#include "dynamic_vino_lib/pipeline_manager.h"
-#include "dynamic_vino_lib/pipeline_params.h"
+#include "vino_core_lib/factory.h"
+#include "vino_core_lib/inferences/age_gender_detection.h"
+#include "vino_core_lib/inferences/emotions_detection.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/inferences/head_pose_detection.h"
+#include "vino_core_lib/inputs/image_input.h"
+#include "vino_core_lib/inputs/realsense_camera.h"
+#include "vino_core_lib/inputs/realsense_camera_topic.h"
+#include "vino_core_lib/inputs/standard_camera.h"
+#include "vino_core_lib/inputs/video_input.h"
+#include "vino_core_lib/models/age_gender_detection_model.h"
+#include "vino_core_lib/models/emotion_detection_model.h"
+#include "vino_core_lib/models/face_detection_model.h"
+#include "vino_core_lib/models/head_pose_detection_model.h"
+#include "vino_core_lib/outputs/image_window_output.h"
+#include "vino_core_lib/outputs/ros_topic_output.h"
+#include "vino_core_lib/outputs/rviz_output.h"
+#include "vino_core_lib/outputs/ros_service_output.h"
+#include "vino_core_lib/pipeline.h"
+#include "vino_core_lib/pipeline_manager.h"
+#include "vino_core_lib/pipeline_params.h"
 
 std::shared_ptr<Pipeline> PipelineManager::createPipeline(
     const Params::ParamManager::PipelineParams& params) {
@@ -156,7 +156,7 @@ PipelineManager::parseOutput(
   return outputs;
 }
 
-std::map<std::string, std::shared_ptr<dynamic_vino_lib::BaseInference>>
+std::map<std::string, std::shared_ptr<vino_core_lib::BaseInference>>
 PipelineManager::parseInference(
     const Params::ParamManager::PipelineParams& params) {
   /**< update plugins for devices >**/
@@ -165,14 +165,14 @@ PipelineManager::parseInference(
   std::string FLAGS_c = pcommon.custom_cldnn_library;
   bool FLAGS_pc = pcommon.enable_performance_count;
 
-  std::map<std::string, std::shared_ptr<dynamic_vino_lib::BaseInference>>
+  std::map<std::string, std::shared_ptr<vino_core_lib::BaseInference>>
       inferences;
   for (auto& infer : params.infers) {
     if (infer.name.empty() || infer.model.empty()) {
       continue;
     }
     slog::info << "Parsing Inference: " << infer.name << slog::endl;
-    std::shared_ptr<dynamic_vino_lib::BaseInference> object = nullptr;
+    std::shared_ptr<vino_core_lib::BaseInference> object = nullptr;
     if (plugins_for_devices_.find(infer.engine) == plugins_for_devices_.end()) {
       plugins_for_devices_[infer.engine] =
           *Factory::makePluginByName(infer.engine, FLAGS_l, FLAGS_c, FLAGS_pc);
@@ -192,14 +192,16 @@ PipelineManager::parseInference(
 
     } else if (infer.name == kInferTpye_ObjectDetection) {
       object = createObjectDetection(infer);
-
     }
     else if (infer.name == kInferTpye_ObjectSegmentation) {
       object = createObjectSegmentation(infer);
     }
     else if (infer.name == kInferTpye_PersonReidentification) {
       object = createPersonReidentification(infer);
-    } 
+    }
+    else if (infer.name == kInferTpye_HumanPoseEstimation) {
+      object = createHumanPoseEstimation(infer);
+    }
     else {
       slog::err << "Invalid inference name: " << infer.name << slog::endl;
     }
@@ -214,7 +216,7 @@ PipelineManager::parseInference(
   return inferences;
 }
 
-std::shared_ptr<dynamic_vino_lib::BaseInference>
+std::shared_ptr<vino_core_lib::BaseInference>
 PipelineManager::createFaceDetection(
     const Params::ParamManager::InferenceParams& infer) {
   // TODO: add batch size in param_manager
@@ -223,7 +225,7 @@ PipelineManager::createFaceDetection(
   face_detection_model->modelInit();
   auto face_detection_engine = std::make_shared<Engines::Engine>(
       plugins_for_devices_[infer.engine], face_detection_model);
-  auto face_inference_ptr = std::make_shared<dynamic_vino_lib::FaceDetection>(
+  auto face_inference_ptr = std::make_shared<vino_core_lib::FaceDetection>(
       0.5);  // TODO: add output_threshold in param_manager
   face_inference_ptr->loadNetwork(face_detection_model);
   face_inference_ptr->loadEngine(face_detection_engine);
@@ -231,7 +233,7 @@ PipelineManager::createFaceDetection(
   return face_inference_ptr;
 }
 
-std::shared_ptr<dynamic_vino_lib::BaseInference>
+std::shared_ptr<vino_core_lib::BaseInference>
 PipelineManager::createAgeGenderRecognition(
     const Params::ParamManager::InferenceParams& param) {
   auto model =
@@ -239,14 +241,14 @@ PipelineManager::createAgeGenderRecognition(
   model->modelInit();
   auto engine = std::make_shared<Engines::Engine>(
       plugins_for_devices_[param.engine], model);
-  auto infer = std::make_shared<dynamic_vino_lib::AgeGenderDetection>();
+  auto infer = std::make_shared<vino_core_lib::AgeGenderDetection>();
   infer->loadNetwork(model);
   infer->loadEngine(engine);
 
   return infer;
 }
 
-std::shared_ptr<dynamic_vino_lib::BaseInference>
+std::shared_ptr<vino_core_lib::BaseInference>
 PipelineManager::createEmotionRecognition(
     const Params::ParamManager::InferenceParams& param) {
   auto model =
@@ -254,14 +256,14 @@ PipelineManager::createEmotionRecognition(
   model->modelInit();
   auto engine = std::make_shared<Engines::Engine>(
       plugins_for_devices_[param.engine], model);
-  auto infer = std::make_shared<dynamic_vino_lib::EmotionsDetection>();
+  auto infer = std::make_shared<vino_core_lib::EmotionsDetection>();
   infer->loadNetwork(model);
   infer->loadEngine(engine);
 
   return infer;
 }
 
-std::shared_ptr<dynamic_vino_lib::BaseInference>
+std::shared_ptr<vino_core_lib::BaseInference>
 PipelineManager::createHeadPoseEstimation(
     const Params::ParamManager::InferenceParams& param) {
   auto model =
@@ -269,14 +271,14 @@ PipelineManager::createHeadPoseEstimation(
   model->modelInit();
   auto engine = std::make_shared<Engines::Engine>(
       plugins_for_devices_[param.engine], model);
-  auto infer = std::make_shared<dynamic_vino_lib::HeadPoseDetection>();
+  auto infer = std::make_shared<vino_core_lib::HeadPoseDetection>();
   infer->loadNetwork(model);
   infer->loadEngine(engine);
 
   return infer;
 }
 
-std::shared_ptr<dynamic_vino_lib::BaseInference>
+std::shared_ptr<vino_core_lib::BaseInference>
 PipelineManager::createObjectDetection(
 const Params::ParamManager::InferenceParams & infer)
 {
@@ -285,7 +287,7 @@ const Params::ParamManager::InferenceParams & infer)
   object_detection_model->modelInit();
   auto object_detection_engine = std::make_shared<Engines::Engine>(
     plugins_for_devices_[infer.engine], object_detection_model);
-  auto object_inference_ptr = std::make_shared<dynamic_vino_lib::ObjectDetection>(
+  auto object_inference_ptr = std::make_shared<vino_core_lib::ObjectDetection>(
     infer.enable_roi_constraint, infer.confidence_threshold); // To-do theshold configuration
   object_inference_ptr->loadNetwork(object_detection_model);
   object_inference_ptr->loadEngine(object_detection_engine);
@@ -293,7 +295,7 @@ const Params::ParamManager::InferenceParams & infer)
   return object_inference_ptr;
 }
 
-std::shared_ptr<dynamic_vino_lib::BaseInference>
+std::shared_ptr<vino_core_lib::BaseInference>
 PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceParams & infer)
 {
   auto obejct_segmentation_model =
@@ -301,14 +303,14 @@ PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceP
   obejct_segmentation_model->modelInit();
   auto obejct_segmentation_engine = std::make_shared<Engines::Engine>(
     plugins_for_devices_[infer.engine], obejct_segmentation_model);
-  auto segmentation_inference_ptr = std::make_shared<dynamic_vino_lib::ObjectSegmentation>(0.5);
+  auto segmentation_inference_ptr = std::make_shared<vino_core_lib::ObjectSegmentation>(0.5);
   segmentation_inference_ptr->loadNetwork(obejct_segmentation_model);
   segmentation_inference_ptr->loadEngine(obejct_segmentation_engine);
 
   return segmentation_inference_ptr;
 }
 
-std::shared_ptr<dynamic_vino_lib::BaseInference>
+std::shared_ptr<vino_core_lib::BaseInference>
 PipelineManager::createPersonReidentification(
   const Params::ParamManager::InferenceParams & infer)
 {
@@ -318,13 +320,42 @@ PipelineManager::createPersonReidentification(
   auto person_reidentification_engine = std::make_shared<Engines::Engine>(
     plugins_for_devices_[infer.engine], person_reidentification_model);
   auto reidentification_inference_ptr =
-    std::make_shared<dynamic_vino_lib::PersonReidentification>(infer.confidence_threshold);
+    std::make_shared<vino_core_lib::PersonReidentification>(infer.confidence_threshold);
   reidentification_inference_ptr->loadNetwork(person_reidentification_model);
   reidentification_inference_ptr->loadEngine(person_reidentification_engine);
 
   return reidentification_inference_ptr;
 }
 
+std::shared_ptr<vino_core_lib::BaseInference>
+PipelineManager::createHumanPoseEstimation(
+  const Params::ParamManager::InferenceParams & infer)
+{
+  // Following createObjectDetection and createFaceDetection
+  // 1 input, 2 outputs, 1 batch
+  auto human_estimation_model =
+    std::make_shared<Models::HumanPoseEstimationModel>(infer.model, 1, 2, 1);
+  human_estimation_model->modelInit();
+  auto pose_engine = std::make_shared<Engines::Engine>(
+    plugins_for_devices_[infer.engine], human_estimation_model);
+  slog::info << "params: " <<  infer.min_peaks_distance << ", " <<
+      infer.mid_points_score_threshold << ", " <<
+      infer.found_mid_points_ratio_threshold << ", " <<
+      infer.min_joints_number << ", " <<
+      infer.min_subset_score << slog::endl;
+  auto pose_inference_ptr =
+    std::make_shared<vino_core_lib::HumanPoseEstimation>(
+      infer.min_peaks_distance,
+      infer.mid_points_score_threshold,
+      infer.found_mid_points_ratio_threshold,
+      infer.min_joints_number,
+      infer.min_subset_score);
+  pose_inference_ptr->loadNetwork(human_estimation_model);
+  pose_inference_ptr->loadEngine(pose_engine);
+
+  return pose_inference_ptr;
+}
+
 void PipelineManager::threadPipeline(const char* name) {
   PipelineData& p = pipelines_[name];
   while (p.state == PipelineState_ThreadRunning && p.pipeline != nullptr && ros::ok()) {
diff --git a/dynamic_vino_lib/src/pipeline_params.cpp b/vino_core_lib/src/pipeline_params.cpp
similarity index 97%
rename from dynamic_vino_lib/src/pipeline_params.cpp
rename to vino_core_lib/src/pipeline_params.cpp
index 947688a5..f5d3bba1 100644
--- a/dynamic_vino_lib/src/pipeline_params.cpp
+++ b/vino_core_lib/src/pipeline_params.cpp
@@ -24,7 +24,7 @@
 #include <utility>
 
 #include <vino_param_lib/param_manager.h>
-#include "dynamic_vino_lib/pipeline_params.h"
+#include "vino_core_lib/pipeline_params.h"
 
 PipelineParams::PipelineParams(const std::string& name) { params_.name = name; }
 
diff --git a/dynamic_vino_lib/src/services/frame_processing_server.cpp b/vino_core_lib/src/services/frame_processing_server.cpp
similarity index 80%
rename from dynamic_vino_lib/src/services/frame_processing_server.cpp
rename to vino_core_lib/src/services/frame_processing_server.cpp
index baaaae67..ad5d3ba4 100644
--- a/dynamic_vino_lib/src/services/frame_processing_server.cpp
+++ b/vino_core_lib/src/services/frame_processing_server.cpp
@@ -12,10 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "dynamic_vino_lib/services/frame_processing_server.h"
-#include <people_msgs/PeopleSrv.h>
-#include <people_msgs/ObjectsInMasksSrv.h>
-#include <people_msgs/ReidentificationSrv.h>
+#include "vino_core_lib/services/frame_processing_server.h"
+#include <vino_people_msgs/PeopleSrv.h>
+#include <vino_people_msgs/ObjectsInMasksSrv.h>
+#include <vino_people_msgs/ReidentificationSrv.h>
+#include <vino_people_msgs/HumanPoseSrv.h>
 #include <object_msgs/DetectObject.h>
 #include <vino_param_lib/param_manager.h>
 #include <ros/ros.h>
@@ -25,11 +26,11 @@
 #include <chrono>
 #include <thread>
 
-#include "dynamic_vino_lib/pipeline_manager.h"
-#include "dynamic_vino_lib/pipeline.h"
-#include "dynamic_vino_lib/inputs/base_input.h"
-#include "dynamic_vino_lib/inputs/image_input.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/pipeline_manager.h"
+#include "vino_core_lib/pipeline.h"
+#include "vino_core_lib/inputs/base_input.h"
+#include "vino_core_lib/inputs/image_input.h"
+#include "vino_core_lib/slog.h"
 
 namespace vino_service
 {
@@ -96,7 +97,8 @@ bool FrameProcessingServer<T>::cbService(
 }
 
 template class FrameProcessingServer<object_msgs::DetectObject>;
-template class FrameProcessingServer<people_msgs::PeopleSrv>;
-template class FrameProcessingServer<people_msgs::ReidentificationSrv>;
-template class FrameProcessingServer<people_msgs::ObjectsInMasksSrv>;
+template class FrameProcessingServer<vino_people_msgs::PeopleSrv>;
+template class FrameProcessingServer<vino_people_msgs::ReidentificationSrv>;
+template class FrameProcessingServer<vino_people_msgs::ObjectsInMasksSrv>;
+template class FrameProcessingServer<vino_people_msgs::HumanPoseSrv>;
 }  // namespace vino_service
diff --git a/vino_launch/CMakeLists.txt b/vino_launch/CMakeLists.txt
index b463d711..1af2dc8c 100644
--- a/vino_launch/CMakeLists.txt
+++ b/vino_launch/CMakeLists.txt
@@ -22,9 +22,9 @@ catkin_package(
   LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS
   roslaunch
-  dynamic_vino_lib
+  vino_core_lib
   vino_param_lib
-  dynamic_vino_sample
+  vino_sample
   nodelet
 )
 
diff --git a/vino_launch/launch/image_human_pose_server.launch b/vino_launch/launch/image_human_pose_server.launch
new file mode 100644
index 00000000..16c191b1
--- /dev/null
+++ b/vino_launch/launch/image_human_pose_server.launch
@@ -0,0 +1,8 @@
+<launch>
+  <arg name="param_file" value="$(find vino_launch)/param/image_human_pose_server.yaml" />
+ 
+  <node pkg="vino_sample" type="image_human_pose_server"
+        name="image_human_pose_server" output="screen">
+    <param name="param_file" value="$(arg param_file)" />
+  </node>
+</launch>
diff --git a/vino_launch/launch/image_object_server.launch b/vino_launch/launch/image_object_server.launch
index d8ed17cd..f1e7c428 100644
--- a/vino_launch/launch/image_object_server.launch
+++ b/vino_launch/launch/image_object_server.launch
@@ -2,7 +2,7 @@
 
   <arg name="param_file" value="$(find vino_launch)/param/image_object_server.yaml" />
 
-    <node pkg="dynamic_vino_sample" type="image_object_server"
+    <node pkg="vino_sample" type="image_object_server"
         name="image_people_server" output="screen">
     <param name="param_file" value="$(arg param_file)" />
   </node>
diff --git a/vino_launch/launch/image_object_server_oss.launch b/vino_launch/launch/image_object_server_oss.launch
index a2698e2b..69ee5972 100644
--- a/vino_launch/launch/image_object_server_oss.launch
+++ b/vino_launch/launch/image_object_server_oss.launch
@@ -2,7 +2,7 @@
 
   <arg name="param_file" value="$(find vino_launch)/param/image_object_server_oss.yaml" />
 
-    <node pkg="dynamic_vino_sample" type="image_object_server"
+    <node pkg="vino_sample" type="image_object_server"
         name="image_people_server" output="screen">
     <param name="param_file" value="$(arg param_file)" />
   </node>
diff --git a/vino_launch/launch/image_people_server.launch b/vino_launch/launch/image_people_server.launch
index eacd85fa..2846803a 100644
--- a/vino_launch/launch/image_people_server.launch
+++ b/vino_launch/launch/image_people_server.launch
@@ -2,7 +2,7 @@
 
   <arg name="param_file" value="$(find vino_launch)/param/image_people_server.yaml" />
 
-    <node pkg="dynamic_vino_sample" type="image_people_server"
+    <node pkg="vino_sample" type="image_people_server"
         name="image_people_server" output="screen">
     <param name="param_file" value="$(arg param_file)" />
   </node>
diff --git a/vino_launch/launch/image_people_server_oss.launch b/vino_launch/launch/image_people_server_oss.launch
index 0d9bcf8b..f26cf97c 100644
--- a/vino_launch/launch/image_people_server_oss.launch
+++ b/vino_launch/launch/image_people_server_oss.launch
@@ -2,7 +2,7 @@
 
   <arg name="param_file" value="$(find vino_launch)/param/image_people_server_oss.yaml" />
 
-    <node pkg="dynamic_vino_sample" type="image_people_server"
+    <node pkg="vino_sample" type="image_people_server"
         name="image_people_server" output="screen">
     <param name="param_file" value="$(arg param_file)" />
   </node>
diff --git a/vino_launch/launch/image_reidentification_server_oss.launch b/vino_launch/launch/image_reidentification_server_oss.launch
index 3ea12149..96576c00 100644
--- a/vino_launch/launch/image_reidentification_server_oss.launch
+++ b/vino_launch/launch/image_reidentification_server_oss.launch
@@ -2,7 +2,7 @@
 
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_reidentification_server_oss.yaml" />
 
-    <node pkg="dynamic_vino_sample" type="image_reidentification_server"
+    <node pkg="vino_sample" type="image_reidentification_server"
         name="image_people_server" output="screen">
     <param name="param_file" value="$(arg param_file)" />
   </node>
diff --git a/vino_launch/launch/image_segmentation_server.launch b/vino_launch/launch/image_segmentation_server.launch
index 8d748249..8e97e01c 100644
--- a/vino_launch/launch/image_segmentation_server.launch
+++ b/vino_launch/launch/image_segmentation_server.launch
@@ -2,7 +2,7 @@
 
   <arg name="param_file" value="$(find vino_launch)/param/image_segmentation_server.yaml" />
 
-    <node pkg="dynamic_vino_sample" type="image_segmentation_server"
+    <node pkg="vino_sample" type="image_segmentation_server"
         name="image_people_server" output="screen">
     <param name="param_file" value="$(arg param_file)" />
   </node>
diff --git a/vino_launch/launch/pipeline_image.launch b/vino_launch/launch/pipeline_image.launch
index ac037862..f2995a25 100644
--- a/vino_launch/launch/pipeline_image.launch
+++ b/vino_launch/launch/pipeline_image.launch
@@ -3,7 +3,7 @@
 
   <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />   
         <remap from ="/openvino_toolkit/faces" to = "/ros_openvino_toolkit/face_detection" />
diff --git a/vino_launch/launch/pipeline_image_oss.launch b/vino_launch/launch/pipeline_image_oss.launch
index 04d43e8f..20de794c 100644
--- a/vino_launch/launch/pipeline_image_oss.launch
+++ b/vino_launch/launch/pipeline_image_oss.launch
@@ -2,7 +2,7 @@
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_image_oss.yaml" />
   <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />   
         <remap from ="/openvino_toolkit/faces" to = "/ros_openvino_toolkit/face_detection" />
diff --git a/vino_launch/launch/pipeline_object.launch b/vino_launch/launch/pipeline_object.launch
index 021ed11b..8debc692 100644
--- a/vino_launch/launch/pipeline_object.launch
+++ b/vino_launch/launch/pipeline_object.launch
@@ -2,7 +2,7 @@
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_object.yaml" />
   <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />   
         <remap from ="/openvino_toolkit/detected_objects" to = "/ros_openvino_toolkit/detected_objects" />
diff --git a/vino_launch/launch/pipeline_object_oss.launch b/vino_launch/launch/pipeline_object_oss.launch
index 8f450044..bb76808f 100644
--- a/vino_launch/launch/pipeline_object_oss.launch
+++ b/vino_launch/launch/pipeline_object_oss.launch
@@ -2,7 +2,7 @@
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_object_oss.yaml" />
   <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />   
         <remap from ="/openvino_toolkit/detected_objects" to = "/ros_openvino_toolkit/detected_objects" />
diff --git a/vino_launch/launch/pipeline_object_oss_topic.launch b/vino_launch/launch/pipeline_object_oss_topic.launch
index 5624dfea..121726f3 100644
--- a/vino_launch/launch/pipeline_object_oss_topic.launch
+++ b/vino_launch/launch/pipeline_object_oss_topic.launch
@@ -11,7 +11,7 @@
          <arg name="color_height" value="$(arg color_height)" />
      </include>
   </group>
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />   
         <remap from ="/openvino_toolkit/detected_objects" to = "/ros_openvino_toolkit/detected_objects" />
diff --git a/vino_launch/launch/pipeline_object_topic.launch b/vino_launch/launch/pipeline_object_topic.launch
index 3e2f0e98..8424ee13 100644
--- a/vino_launch/launch/pipeline_object_topic.launch
+++ b/vino_launch/launch/pipeline_object_topic.launch
@@ -11,7 +11,7 @@
          <arg name="color_height" value="$(arg color_height)" />
      </include>
   </group>
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />   
         <remap from ="/openvino_toolkit/detected_objects" to = "/ros_openvino_toolkit/detected_objects" />
diff --git a/vino_launch/launch/pipeline_param.launch b/vino_launch/launch/pipeline_param.launch
index 0e2031f8..8236b236 100644
--- a/vino_launch/launch/pipeline_param.launch
+++ b/vino_launch/launch/pipeline_param.launch
@@ -1,7 +1,7 @@
 <launch>
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_people_oss.yaml" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
     <param name="param_file" value="$(arg param_file)" />
   </node>
diff --git a/vino_launch/launch/pipeline_people_myriad.launch b/vino_launch/launch/pipeline_people_myriad.launch
index 2dbc86ca..9b49eddc 100644
--- a/vino_launch/launch/pipeline_people_myriad.launch
+++ b/vino_launch/launch/pipeline_people_myriad.launch
@@ -2,7 +2,7 @@
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_people_myriad.yaml" />
   <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />   
         <remap from ="/openvino_toolkit/faces" to = "/ros_openvino_toolkit/face_detection" />
diff --git a/vino_launch/launch/pipeline_people_oss.launch b/vino_launch/launch/pipeline_people_oss.launch
index 0d7a2b13..db5e91a5 100644
--- a/vino_launch/launch/pipeline_people_oss.launch
+++ b/vino_launch/launch/pipeline_people_oss.launch
@@ -2,7 +2,7 @@
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_people_oss.yaml" />
   <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />   
         <remap from ="/openvino_toolkit/faces" to = "/ros_openvino_toolkit/face_detection" />
diff --git a/vino_launch/launch/pipeline_pose.launch b/vino_launch/launch/pipeline_pose.launch
new file mode 100644
index 00000000..879e03e8
--- /dev/null
+++ b/vino_launch/launch/pipeline_pose.launch
@@ -0,0 +1,19 @@
+<launch>
+  <arg name="param_file" value="$(find vino_launch)/param/pipeline_pose.yaml" />
+  <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
+
+  <node pkg="vino_sample" type="pipeline_with_params"
+        name="pipeline_with_params" output="screen">
+        <param name="param_file" value="$(arg param_file)" />   
+                
+        <remap from ="/openvino_toolkit/faces" to = "/ros_openvino_toolkit/face_detection" />
+        <remap from ="/openvino_toolkit/emotions" to = "/ros_openvino_toolkit/emotions_recognition" />
+        <remap from ="/openvino_toolkit/headposes" to = "/ros_openvino_toolkit/headposes_estimation" />
+        <remap from ="/openvino_toolkit/age_genders" to = "/ros_openvino_toolkit/age_genders_Recognition" />
+        <remap from ="/openvino_toolkit/human_poses" to = "/ros_openvino_toolkit/human_pose_estimation" />
+        <remap from ="/openvino_toolkit/images" to = "/ros_openvino_toolkit/image_rviz" />
+  </node>
+  <node name="rviz" pkg="rviz" type="rviz" required="true" output="screen">
+        <param name="default_rviz" value="$(arg default_rviz)" />
+  </node>
+</launch>
diff --git a/vino_launch/launch/pipeline_reidentification.launch b/vino_launch/launch/pipeline_reidentification.launch
index 5461fcc9..c9fd5fed 100644
--- a/vino_launch/launch/pipeline_reidentification.launch
+++ b/vino_launch/launch/pipeline_reidentification.launch
@@ -2,7 +2,7 @@
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_reidentification.yaml" />
   <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />
         <remap from ="/openvino_toolkit/reidentified_persons" to = "/ros_openvino_toolkit/reidentified_persons" />
diff --git a/vino_launch/launch/pipeline_reidentification_oss.launch b/vino_launch/launch/pipeline_reidentification_oss.launch
index eaa393e3..83828d2a 100644
--- a/vino_launch/launch/pipeline_reidentification_oss.launch
+++ b/vino_launch/launch/pipeline_reidentification_oss.launch
@@ -2,7 +2,7 @@
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_reidentification_oss.yaml" />
   <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />
         <remap from ="/openvino_toolkit/reidentified_persons" to = "/ros_openvino_toolkit/reidentified_persons" />
diff --git a/vino_launch/launch/pipeline_segmentation.launch b/vino_launch/launch/pipeline_segmentation.launch
index 4a47a9e3..5074e480 100644
--- a/vino_launch/launch/pipeline_segmentation.launch
+++ b/vino_launch/launch/pipeline_segmentation.launch
@@ -11,7 +11,7 @@
          <arg name="color_height" value="$(arg color_height)" />
      </include>
   </group>
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
     <param name="param_file" value="$(arg param_file)" />
     <remap from ="/openvino_toolkit/segmented_obejcts" to = "/ros_openvino_toolkit/segmented_objects" />
diff --git a/vino_launch/launch/pipeline_video.launch b/vino_launch/launch/pipeline_video.launch
index f74971b7..c0d5fc97 100644
--- a/vino_launch/launch/pipeline_video.launch
+++ b/vino_launch/launch/pipeline_video.launch
@@ -2,7 +2,7 @@
   <arg name="param_file" value="$(find vino_launch)/param/pipeline_video.yaml" />
   <arg name="default_rviz" value="$(find vino_launch)/param/rviz/default.rviz" />
 
-  <node pkg="dynamic_vino_sample" type="pipeline_with_params"
+  <node pkg="vino_sample" type="pipeline_with_params"
         name="pipeline_with_params" output="screen">
         <param name="param_file" value="$(arg param_file)" />
         <remap from ="/openvino_toolkit/segmented_obejcts" to = "/ros_openvino_toolkit/segmented_obejcts" />
diff --git a/vino_launch/package.xml b/vino_launch/package.xml
index 27e5b3ab..d78cd8fe 100644
--- a/vino_launch/package.xml
+++ b/vino_launch/package.xml
@@ -26,16 +26,16 @@ limitations under the License.
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>roslaunch</build_depend>
-  <build_depend>dynamic_vino_lib</build_depend>
+  <build_depend>vino_core_lib</build_depend>
   <build_depend>vino_param_lib</build_depend>
-  <build_depend>dynamic_vino_sample</build_depend>
+  <build_depend>vino_sample</build_depend>
   <build_depend>usb_cam</build_depend>
   <build_depend>nodelet</build_depend>
 
   <run_depend>roslaunch</run_depend>
-  <run_depend>dynamic_vino_lib</run_depend>
+  <run_depend>vino_core_lib</run_depend>
   <run_depend>vino_param_lib</run_depend>
-  <run_depend>dynamic_vino_sample</run_depend>
+  <run_depend>vino_sample</run_depend>
   <run_depend>usb_cam</run_depend>
   <run_depend>nodelet</run_depend>
 </package>
diff --git a/vino_launch/param/image_human_pose_server.yaml b/vino_launch/param/image_human_pose_server.yaml
new file mode 100644
index 00000000..6ae92aeb
--- /dev/null
+++ b/vino_launch/param/image_human_pose_server.yaml
@@ -0,0 +1,19 @@
+Pipelines:
+- name: people
+  inputs: [Image]
+  infers:
+    - name: HumanPoseEstimation
+      model: /opt/openvino_toolkit/open_model_zoo/tools/downloader/intel/human-pose-estimation-0001/FP16/human-pose-estimation-0001.xml
+      engine: MYRIAD
+      label: to/be/set/xxx.labels
+      batch: 1
+  outputs: [RosService]
+  confidence_threshold: 0.2
+  connects:
+    - left: Image
+      right: [HumanPoseEstimation]
+    - left: HumanPoseEstimation
+      right: [RosService]
+  input_path: "/opt/openvino_toolkit/ros_openvino_toolkit/data/images/team.jpg"
+
+OpenvinoCommon:
diff --git a/vino_launch/param/pipeline_object_oss.yaml b/vino_launch/param/pipeline_object_oss.yaml
index 4fe4ca7a..9b656fc1 100644
--- a/vino_launch/param/pipeline_object_oss.yaml
+++ b/vino_launch/param/pipeline_object_oss.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [RealSenseCamera]
   infers:
     - name: ObjectDetection
-      model: /opt/intel/computer_vision_sdk/deployment_tools/model_downloader/object_detection/common/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/open_model_zoo/model_downloader/object_detection/common/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 16
diff --git a/vino_launch/param/pipeline_pose.yaml b/vino_launch/param/pipeline_pose.yaml
new file mode 100644
index 00000000..7ecaeccd
--- /dev/null
+++ b/vino_launch/param/pipeline_pose.yaml
@@ -0,0 +1,22 @@
+Pipelines:
+- name: people
+  inputs: [RealSenseCamera]
+  infers:
+    - name: HumanPoseEstimation
+      model: /opt/openvino_toolkit/open_model_zoo/tools/downloader/intel/human-pose-estimation-0001/FP16/human-pose-estimation-0001.xml
+      engine: MYRIAD
+      label: to/be/set/xxx.labels
+      batch: 1
+      min_peaks_distance: 3.0
+      mid_points_score_threshold: 0.05
+      found_mid_points_ratio_threshold: 0.8
+      min_joints_number: 3
+      min_subset_score: 0.2
+  outputs: [ImageWindow, RosTopic, RViz]
+  connects:
+    - left: RealSenseCamera
+      right: [HumanPoseEstimation]
+    - left: HumanPoseEstimation
+      right: [ImageWindow, RosTopic, RViz]
+
+OpenvinoCommon:
diff --git a/vino_param_lib/include/vino_param_lib/param_manager.h b/vino_param_lib/include/vino_param_lib/param_manager.h
index 1f0a5cc3..4ab13deb 100644
--- a/vino_param_lib/include/vino_param_lib/param_manager.h
+++ b/vino_param_lib/include/vino_param_lib/param_manager.h
@@ -70,6 +70,13 @@ class ParamManager  // singleton
     int batch;
     float confidence_threshold = 0.5;
     bool enable_roi_constraint = false;
+
+    // Human Pose Estimation parameters.
+    float min_peaks_distance = 3.0;
+    float mid_points_score_threshold = 0.05;
+    float found_mid_points_ratio_threshold = 0.8;
+    int min_joints_number = 3;
+    float min_subset_score = 0.2;
   };
   struct PipelineParams
   {
diff --git a/vino_param_lib/src/param_manager.cpp b/vino_param_lib/src/param_manager.cpp
index 3d5d2bb6..8f362a87 100644
--- a/vino_param_lib/src/param_manager.cpp
+++ b/vino_param_lib/src/param_manager.cpp
@@ -105,6 +105,13 @@ void operator>>(const YAML::Node& node, ParamManager::InferenceParams& infer)
   YAML_PARSE(node, "batch", infer.batch)
   YAML_PARSE(node, "confidence_threshold", infer.confidence_threshold)
   YAML_PARSE(node, "enable_roi_constraint", infer.enable_roi_constraint)
+
+  // Human Pose Estimation parameters
+  YAML_PARSE(node, "min_peaks_distance", infer.min_peaks_distance)
+  YAML_PARSE(node, "mid_points_score_threshold", infer.mid_points_score_threshold)
+  YAML_PARSE(node, "found_mid_points_ratio_threshold", infer.found_mid_points_ratio_threshold)
+  YAML_PARSE(node, "min_joints_number", infer.min_joints_number)
+  YAML_PARSE(node, "min_subset_score", infer.min_subset_score)
   slog::info << "Inference Params:name=" << infer.name << slog::endl;
 }
 
@@ -184,6 +191,11 @@ void ParamManager::print() const
       slog::info << "\t\tBatch: " << infer.batch << slog::endl;
       slog::info << "\t\tConfidence_threshold: " << infer.confidence_threshold << slog::endl;
       slog::info << "\t\tEnable_roi_constraint: " << infer.enable_roi_constraint << slog::endl;
+      slog::info << "\t\tMin_peaks_distance: " << infer.min_peaks_distance << slog::endl;
+      slog::info << "\t\tMid_points_score_threshold: " << infer.mid_points_score_threshold << slog::endl;
+      slog::info << "\t\tFound_mid_points_ratio_threshold: " << infer.found_mid_points_ratio_threshold << slog::endl;
+      slog::info << "\t\tMin_joints_number: " << infer.min_joints_number << slog::endl;
+      slog::info << "\t\tMin_subset_score: " << infer.min_subset_score << slog::endl;
     }
 
     slog::info << "\tConnections: " << slog::endl;
diff --git a/people_msgs/CMakeLists.txt b/vino_people_msgs/CMakeLists.txt
similarity index 96%
rename from people_msgs/CMakeLists.txt
rename to vino_people_msgs/CMakeLists.txt
index fbf650ad..42d40f5d 100644
--- a/people_msgs/CMakeLists.txt
+++ b/vino_people_msgs/CMakeLists.txt
@@ -14,13 +14,14 @@
 
 cmake_minimum_required(VERSION 2.8.3)
 
-project(people_msgs)
+project(vino_people_msgs)
 
 find_package(catkin REQUIRED COMPONENTS
   std_msgs
   sensor_msgs
   geometry_msgs
   message_generation
+  object_msgs
 )
 
 add_message_files(DIRECTORY msg FILES
@@ -35,6 +36,9 @@ add_message_files(DIRECTORY msg FILES
   ObjectsInMasks.msg
   Reidentification.msg
   ReidentificationStamped.msg
+  HumanPoseKeypoint.msg
+  HumanPose.msg
+  HumanPoseStamped.msg
 )
 
 add_service_files(FILES
@@ -44,6 +48,7 @@ add_service_files(FILES
   PeopleSrv.srv
   ReidentificationSrv.srv
   ObjectsInMasksSrv.srv
+  HumanPoseSrv.srv
 )
 generate_messages(DEPENDENCIES
   std_msgs
diff --git a/people_msgs/msg/AgeGender.msg b/vino_people_msgs/msg/AgeGender.msg
similarity index 100%
rename from people_msgs/msg/AgeGender.msg
rename to vino_people_msgs/msg/AgeGender.msg
diff --git a/people_msgs/msg/AgeGenderStamped.msg b/vino_people_msgs/msg/AgeGenderStamped.msg
similarity index 94%
rename from people_msgs/msg/AgeGenderStamped.msg
rename to vino_people_msgs/msg/AgeGenderStamped.msg
index efa0c724..bbcd3d5e 100644
--- a/people_msgs/msg/AgeGenderStamped.msg
+++ b/vino_people_msgs/msg/AgeGenderStamped.msg
@@ -13,4 +13,4 @@
 # limitations under the License.
 
 std_msgs/Header header
-people_msgs/AgeGender[] objects
+vino_people_msgs/AgeGender[] objects
diff --git a/people_msgs/msg/Emotion.msg b/vino_people_msgs/msg/Emotion.msg
similarity index 100%
rename from people_msgs/msg/Emotion.msg
rename to vino_people_msgs/msg/Emotion.msg
diff --git a/people_msgs/msg/EmotionsStamped.msg b/vino_people_msgs/msg/EmotionsStamped.msg
similarity index 94%
rename from people_msgs/msg/EmotionsStamped.msg
rename to vino_people_msgs/msg/EmotionsStamped.msg
index 1636fc02..9809a247 100644
--- a/people_msgs/msg/EmotionsStamped.msg
+++ b/vino_people_msgs/msg/EmotionsStamped.msg
@@ -13,4 +13,4 @@
 # limitations under the License.
 
 std_msgs/Header header
-people_msgs/Emotion[] emotions
+vino_people_msgs/Emotion[] emotions
diff --git a/people_msgs/msg/HeadPose.msg b/vino_people_msgs/msg/HeadPose.msg
similarity index 100%
rename from people_msgs/msg/HeadPose.msg
rename to vino_people_msgs/msg/HeadPose.msg
diff --git a/people_msgs/msg/HeadPoseStamped.msg b/vino_people_msgs/msg/HeadPoseStamped.msg
similarity index 94%
rename from people_msgs/msg/HeadPoseStamped.msg
rename to vino_people_msgs/msg/HeadPoseStamped.msg
index 75d97828..43006fd8 100644
--- a/people_msgs/msg/HeadPoseStamped.msg
+++ b/vino_people_msgs/msg/HeadPoseStamped.msg
@@ -13,4 +13,4 @@
 # limitations under the License.
 
 std_msgs/Header header
-people_msgs/HeadPose[] headposes
\ No newline at end of file
+vino_people_msgs/HeadPose[] headposes
diff --git a/vino_people_msgs/msg/HumanPose.msg b/vino_people_msgs/msg/HumanPose.msg
new file mode 100644
index 00000000..cf5fc2ce
--- /dev/null
+++ b/vino_people_msgs/msg/HumanPose.msg
@@ -0,0 +1,17 @@
+# Copyright (c) 2018 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+vino_people_msgs/HumanPoseKeypoint[] keypoints     # Keypoints
+float32 score                       # score
+sensor_msgs/RegionOfInterest roi 	# region of interest for a person's body
\ No newline at end of file
diff --git a/vino_people_msgs/msg/HumanPoseKeypoint.msg b/vino_people_msgs/msg/HumanPoseKeypoint.msg
new file mode 100644
index 00000000..a13caa02
--- /dev/null
+++ b/vino_people_msgs/msg/HumanPoseKeypoint.msg
@@ -0,0 +1,2 @@
+float64 score
+geometry_msgs/Point position
\ No newline at end of file
diff --git a/vino_people_msgs/msg/HumanPoseStamped.msg b/vino_people_msgs/msg/HumanPoseStamped.msg
new file mode 100644
index 00000000..8a93b1d7
--- /dev/null
+++ b/vino_people_msgs/msg/HumanPoseStamped.msg
@@ -0,0 +1,16 @@
+# Copyright (c) 2018 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+std_msgs/Header header
+vino_people_msgs/HumanPose[] humanposes
diff --git a/people_msgs/msg/ObjectInMask.msg b/vino_people_msgs/msg/ObjectInMask.msg
similarity index 100%
rename from people_msgs/msg/ObjectInMask.msg
rename to vino_people_msgs/msg/ObjectInMask.msg
diff --git a/people_msgs/msg/ObjectsInMasks.msg b/vino_people_msgs/msg/ObjectsInMasks.msg
similarity index 100%
rename from people_msgs/msg/ObjectsInMasks.msg
rename to vino_people_msgs/msg/ObjectsInMasks.msg
diff --git a/people_msgs/msg/PersonsStamped.msg b/vino_people_msgs/msg/PersonsStamped.msg
similarity index 84%
rename from people_msgs/msg/PersonsStamped.msg
rename to vino_people_msgs/msg/PersonsStamped.msg
index 2aae1a08..2eae7eed 100644
--- a/people_msgs/msg/PersonsStamped.msg
+++ b/vino_people_msgs/msg/PersonsStamped.msg
@@ -14,6 +14,6 @@
 
 std_msgs/Header header
 object_msgs/ObjectInBox[] faces
-people_msgs/Emotion[] emotions
-people_msgs/AgeGender[] agegenders
-people_msgs/HeadPose[] headposes
+vino_people_msgs/Emotion[] emotions
+vino_people_msgs/AgeGender[] agegenders
+vino_people_msgs/HeadPose[] headposes
diff --git a/people_msgs/msg/Reidentification.msg b/vino_people_msgs/msg/Reidentification.msg
similarity index 100%
rename from people_msgs/msg/Reidentification.msg
rename to vino_people_msgs/msg/Reidentification.msg
diff --git a/people_msgs/msg/ReidentificationStamped.msg b/vino_people_msgs/msg/ReidentificationStamped.msg
similarity index 100%
rename from people_msgs/msg/ReidentificationStamped.msg
rename to vino_people_msgs/msg/ReidentificationStamped.msg
diff --git a/people_msgs/package.xml b/vino_people_msgs/package.xml
similarity index 98%
rename from people_msgs/package.xml
rename to vino_people_msgs/package.xml
index 3d12f136..2960f5e5 100644
--- a/people_msgs/package.xml
+++ b/vino_people_msgs/package.xml
@@ -14,7 +14,7 @@ limitations under the License.
 -->
 
 <package>
-  <name>people_msgs</name>
+  <name>vino_people_msgs</name>
   <version>0.3.0</version>
   <description>A package containing people message definitions.</description>
   <author email="wei.zhi.liu@intel.com">Weizhi Liu</author>
diff --git a/people_msgs/srv/AgeGenderSrv.srv b/vino_people_msgs/srv/AgeGenderSrv.srv
similarity index 100%
rename from people_msgs/srv/AgeGenderSrv.srv
rename to vino_people_msgs/srv/AgeGenderSrv.srv
diff --git a/people_msgs/srv/EmotionSrv.srv b/vino_people_msgs/srv/EmotionSrv.srv
similarity index 100%
rename from people_msgs/srv/EmotionSrv.srv
rename to vino_people_msgs/srv/EmotionSrv.srv
diff --git a/people_msgs/srv/HeadPoseSrv.srv b/vino_people_msgs/srv/HeadPoseSrv.srv
similarity index 100%
rename from people_msgs/srv/HeadPoseSrv.srv
rename to vino_people_msgs/srv/HeadPoseSrv.srv
diff --git a/vino_people_msgs/srv/HumanPoseSrv.srv b/vino_people_msgs/srv/HumanPoseSrv.srv
new file mode 100644
index 00000000..2e468088
--- /dev/null
+++ b/vino_people_msgs/srv/HumanPoseSrv.srv
@@ -0,0 +1,17 @@
+# Copyright (c) 2017 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+string image_path       # input: an image
+---
+HumanPose[] humanposes  # ObjectInBox array
diff --git a/people_msgs/srv/ObjectsInMasksSrv.srv b/vino_people_msgs/srv/ObjectsInMasksSrv.srv
similarity index 100%
rename from people_msgs/srv/ObjectsInMasksSrv.srv
rename to vino_people_msgs/srv/ObjectsInMasksSrv.srv
diff --git a/people_msgs/srv/PeopleSrv.srv b/vino_people_msgs/srv/PeopleSrv.srv
similarity index 100%
rename from people_msgs/srv/PeopleSrv.srv
rename to vino_people_msgs/srv/PeopleSrv.srv
diff --git a/people_msgs/srv/ReidentificationSrv.srv b/vino_people_msgs/srv/ReidentificationSrv.srv
similarity index 100%
rename from people_msgs/srv/ReidentificationSrv.srv
rename to vino_people_msgs/srv/ReidentificationSrv.srv
diff --git a/sample/CMakeLists.txt b/vino_sample/CMakeLists.txt
similarity index 87%
rename from sample/CMakeLists.txt
rename to vino_sample/CMakeLists.txt
index f91efb5c..259a0ebe 100644
--- a/sample/CMakeLists.txt
+++ b/vino_sample/CMakeLists.txt
@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 2.8.3)
 
-project(dynamic_vino_sample)
+project(vino_sample)
 
 message(STATUS "Looking for inference engine configuration file at: ${CMAKE_PREFIX_PATH}")
 find_package(InferenceEngine 1.1)
@@ -28,9 +28,9 @@ find_package(
   roslint
   cv_bridge
   object_msgs
-  people_msgs
+  vino_people_msgs
   vino_param_lib
-  dynamic_vino_lib
+  vino_core_lib
 )
 
 find_package(
@@ -47,7 +47,7 @@ catkin_package(
   roscpp
   object_msgs
   vino_param_lib
-  dynamic_vino_lib
+  vino_core_lib
 )
 
 if (CMAKE_BUILD_TYPE EQUAL "RELEASE")
@@ -66,7 +66,7 @@ include_directories (
   ${InferenceEngine_INCLUDE_DIRS}/../build/samples/thirdparty/gflags/include
   ${InferenceEngine_INCLUDE_DIRS}/../samples
   ${InferenceEngine_DIR}/../src
-  ${dynamic_vino_lib_INCLUDE_DIRS}
+  ${vino_core_lib_INCLUDE_DIRS}
   ${vino_param_lib_INCLUDE_DIRS}
 )
 
@@ -104,7 +104,7 @@ add_executable(pipeline_with_params
 add_dependencies(pipeline_with_params
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
-  ${dynamic_vino_lib_TARGETS}
+  ${vino_core_lib_TARGETS}
 )
 
 target_link_libraries(pipeline_with_params
@@ -123,7 +123,7 @@ add_executable(image_people_server
 add_dependencies(image_people_server
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
-  ${dynamic_vino_lib_TARGETS}
+  ${vino_core_lib_TARGETS}
 )
 
 target_link_libraries(image_people_server
@@ -143,7 +143,7 @@ add_executable(image_people_client
 add_dependencies(image_people_client
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
-  ${dynamic_vino_lib_TARGETS}
+  ${vino_core_lib_TARGETS}
 )
 
 target_link_libraries(image_people_client
@@ -162,7 +162,7 @@ add_executable(image_object_server
 add_dependencies(image_object_server
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
-  ${dynamic_vino_lib_TARGETS}
+  ${vino_core_lib_TARGETS}
 )
 
 target_link_libraries(image_object_server
@@ -182,7 +182,7 @@ add_executable(image_object_client
 add_dependencies(image_object_client
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
-  ${dynamic_vino_lib_TARGETS}
+  ${vino_core_lib_TARGETS}
 )
 
 target_link_libraries(image_object_client
@@ -202,7 +202,7 @@ add_executable(image_segmentation_client
 add_dependencies(image_segmentation_client
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
-  ${dynamic_vino_lib_TARGETS}
+  ${vino_core_lib_TARGETS}
 )
 
 target_link_libraries(image_segmentation_client
@@ -221,7 +221,7 @@ add_executable(image_segmentation_server
 add_dependencies(image_segmentation_server
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
-  ${dynamic_vino_lib_TARGETS}
+  ${vino_core_lib_TARGETS}
 )
 
 target_link_libraries(image_segmentation_server
@@ -241,7 +241,7 @@ add_executable(image_reidentification_client
 add_dependencies(image_reidentification_client
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
-  ${dynamic_vino_lib_TARGETS}
+  ${vino_core_lib_TARGETS}
 )
 
 target_link_libraries(image_reidentification_client
@@ -260,7 +260,7 @@ add_executable(image_reidentification_server
 add_dependencies(image_reidentification_server
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
-  ${dynamic_vino_lib_TARGETS}
+  ${vino_core_lib_TARGETS}
 )
 
 target_link_libraries(image_reidentification_server
@@ -272,6 +272,43 @@ target_link_libraries(image_reidentification_server
   ${OpenCV_LIBRARIES}
 )
 
+add_executable(image_human_pose_client
+  src/image_human_pose_client.cpp
+)
+
+add_dependencies(image_human_pose_client
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  ${vino_core_lib_TARGETS}
+)
+
+target_link_libraries(image_human_pose_client
+  ${catkin_LIBRARIES}
+  cpu_extension
+  gflags
+  ${vino_param_lib_LIBRARIES}
+  ${InferenceEngine_LIBRARIES}
+  ${OpenCV_LIBRARIES}
+)
+
+add_executable(image_human_pose_server
+  src/image_human_pose_server.cpp
+)
+
+add_dependencies(image_human_pose_server
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  ${vino_core_lib_TARGETS}
+)
+
+target_link_libraries(image_human_pose_server
+  ${catkin_LIBRARIES}
+  cpu_extension
+  gflags
+  ${vino_param_lib_LIBRARIES}
+  ${InferenceEngine_LIBRARIES}
+  ${OpenCV_LIBRARIES}
+)
 
 if(UNIX OR APPLE)
   # Linker flags.
diff --git a/sample/include/sample/utility.hpp b/vino_sample/include/vino_sample/utility.hpp
similarity index 100%
rename from sample/include/sample/utility.hpp
rename to vino_sample/include/vino_sample/utility.hpp
diff --git a/sample/package.xml b/vino_sample/package.xml
similarity index 89%
rename from sample/package.xml
rename to vino_sample/package.xml
index 08c81d9d..4d6d7fd2 100644
--- a/sample/package.xml
+++ b/vino_sample/package.xml
@@ -14,7 +14,7 @@ limitations under the License.
 -->
 
 <package>
-  <name>dynamic_vino_sample</name>
+  <name>vino_sample</name>
   <version>0.3.0</version>
   <description>a ROS2 wrapper package for Intel OpenVINO</description>
   <author email="wei.zhi.liu@intel.com">Weizhi Liu</author>
@@ -29,19 +29,19 @@ limitations under the License.
   <build_depend>roscpp</build_depend>
   <build_depend>roslint</build_depend>
   <build_depend>std_msgs</build_depend>
-  <build_depend>dynamic_vino_lib</build_depend>
+  <build_depend>vino_core_lib</build_depend>
   <build_depend>vino_param_lib</build_depend>
   <build_depend>cv_bridge</build_depend>
   <build_depend>object_msgs</build_depend>
-  <build_depend>people_msgs</build_depend>
+  <build_depend>vino_people_msgs</build_depend>
  
   <run_depend>roscpp</run_depend>
   <run_depend>roslint</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>cv_bridge</run_depend>
-  <run_depend>dynamic_vino_lib</run_depend>
+  <run_depend>vino_core_lib</run_depend>
   <run_depend>vino_param_lib</run_depend>
   <run_depend>object_msgs</run_depend>
-  <run_depend>people_msgs</run_depend>
+  <run_depend>vino_people_msgs</run_depend>
 </package>
diff --git a/vino_sample/src/image_human_pose_client.cpp b/vino_sample/src/image_human_pose_client.cpp
new file mode 100644
index 00000000..dc2f6c88
--- /dev/null
+++ b/vino_sample/src/image_human_pose_client.cpp
@@ -0,0 +1,69 @@
+/*
+ * Copyright (c) 2018 Intel Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* \brief A sample for this library. This sample performs human pose estimation.
+* \file src/image_human_pose_client.cpp
+*/
+
+#include <ros/package.h>
+#include <ros/ros.h>
+#include "opencv2/opencv.hpp"
+
+#include <vino_people_msgs/HumanPoseSrv.h>
+
+
+
+int main(int argc, char ** argv)
+{
+  ros::init(argc, argv, "image_human_pose_client"); 
+
+  ros::NodeHandle n;
+
+  ros::ServiceClient client = n.serviceClient<vino_people_msgs::HumanPoseSrv>("/openvino_toolkit/service");
+
+
+  vino_people_msgs::HumanPoseSrv srv;
+
+  if (client.call(srv))
+  {
+    ROS_INFO("Request service success!"); 
+
+    for (unsigned int i = 0; i < srv.response.humanposes.size(); i++) {
+      std::ostringstream os;
+      os << "Pose " << i << ", keypoints (" << srv.response.humanposes[i].keypoints.size() << "):";
+      
+      for (auto kp : srv.response.humanposes[i].keypoints)
+      {
+          os << std::endl<< "\tx: " << kp.position.x << "\ty: " << kp.position.y << "\tscore: " << kp.score;
+      }
+      ROS_INFO(os.str().c_str());
+    }
+   
+   
+  }
+   else 
+  {
+    ROS_ERROR("Failed to request service \"openvino_toolkit/service\" "); return -1;
+  }
+
+    
+   
+
+}
+
+
+ 
diff --git a/vino_sample/src/image_human_pose_server.cpp b/vino_sample/src/image_human_pose_server.cpp
new file mode 100644
index 00000000..f5f9d764
--- /dev/null
+++ b/vino_sample/src/image_human_pose_server.cpp
@@ -0,0 +1,98 @@
+/*
+ * Copyright (c) 2018 Intel Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+* \brief A sample for this library. This sample performs human pose estimation.
+* \file src/image_human_pose_server.cpp
+*/
+
+#include <ros/package.h>
+#include <ros/ros.h>
+
+#include <unistd.h>
+#include <algorithm>
+#include <chrono>
+#include <csignal>
+#include <fstream>
+#include <functional>
+#include <iostream>
+#include <iterator>
+#include <map>
+#include <memory>
+#include <random>
+#include <string>
+#include <thread>
+#include <vector>
+#include <utility>
+
+#include <vino_param_lib/param_manager.h>
+#include "vino_core_lib/common.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/factory.h"
+#include "vino_core_lib/inferences/age_gender_detection.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/inferences/emotions_detection.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/inferences/head_pose_detection.h"
+#include "vino_core_lib/inferences/human_pose_estimation.h"
+#include "vino_core_lib/inputs/realsense_camera_topic.h"
+#include "vino_core_lib/outputs/image_window_output.h"
+#include "vino_core_lib/outputs/ros_topic_output.h"
+#include "vino_core_lib/outputs/rviz_output.h"
+#include "vino_core_lib/pipeline.h"
+#include "vino_core_lib/pipeline_manager.h"
+#include "vino_core_lib/slog.h"
+#include "inference_engine.hpp"
+#include "opencv2/opencv.hpp"
+#include "vino_sample/utility.hpp"
+#include "vino_people_msgs/HumanPoseSrv.h"
+
+bool parseAndCheckCommandLine(int argc, char** argv)
+{
+  // -----Parsing and validation of input args---------------------------
+  gflags::ParseCommandLineNonHelpFlags(&argc, &argv, true);
+  if (FLAGS_h)
+  {
+    showUsageForParam();
+    return false;
+  }
+
+  return true;
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "human_pose_server");
+  
+  if (!parseAndCheckCommandLine(argc, argv))  return 0;
+
+  ros::param::param<std::string>("~param_file", FLAGS_config, "/param/pipeline_pose.yaml");
+
+  slog::info << "FLAGS_config=" << FLAGS_config << slog::endl;
+
+  std::string service_name = "/openvino_toolkit/service";
+  slog::info << "service name = " << service_name << slog::endl;
+    // ----- Parsing and validation of input args-----------------------
+
+
+  auto node = std::make_shared<vino_service::FrameProcessingServer
+    <vino_people_msgs::HumanPoseSrv>>(service_name, FLAGS_config);
+  
+  slog::info << "Waiting for service request..." << slog::endl;
+  ros::spin();
+  slog::info << "--------------End of Execution--------------" << FLAGS_config << slog::endl;
+
+}
diff --git a/sample/src/image_object_client.cpp b/vino_sample/src/image_object_client.cpp
similarity index 97%
rename from sample/src/image_object_client.cpp
rename to vino_sample/src/image_object_client.cpp
index 1cdddb9a..b377ec5c 100644
--- a/sample/src/image_object_client.cpp
+++ b/vino_sample/src/image_object_client.cpp
@@ -36,7 +36,7 @@ int main(int argc, char ** argv)
   ros::NodeHandle n;
 
   if (argc != 2) {
-    ROS_INFO("Usage: rosrun dynamic_vino_sample image_object_client <image_path>");
+    ROS_INFO("Usage: rosrun vino_sample image_object_client <image_path>");
     //You can find a sample image in /opt/openvino_toolkit/ros_openvino_toolkit/data/images/car.png
     return -1;
   }
diff --git a/sample/src/image_object_server.cpp b/vino_sample/src/image_object_server.cpp
similarity index 74%
rename from sample/src/image_object_server.cpp
rename to vino_sample/src/image_object_server.cpp
index 25905814..976f9139 100644
--- a/sample/src/image_object_server.cpp
+++ b/vino_sample/src/image_object_server.cpp
@@ -40,24 +40,24 @@
 #include <utility>
 
 #include <vino_param_lib/param_manager.h>
-#include "dynamic_vino_lib/common.h"
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/factory.h"
-#include "dynamic_vino_lib/inferences/age_gender_detection.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/inferences/emotions_detection.h"
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/inferences/head_pose_detection.h"
-#include "dynamic_vino_lib/inputs/realsense_camera_topic.h"
-#include "dynamic_vino_lib/outputs/image_window_output.h"
-#include "dynamic_vino_lib/outputs/ros_topic_output.h"
-#include "dynamic_vino_lib/outputs/rviz_output.h"
-#include "dynamic_vino_lib/pipeline.h"
-#include "dynamic_vino_lib/pipeline_manager.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/common.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/factory.h"
+#include "vino_core_lib/inferences/age_gender_detection.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/inferences/emotions_detection.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/inferences/head_pose_detection.h"
+#include "vino_core_lib/inputs/realsense_camera_topic.h"
+#include "vino_core_lib/outputs/image_window_output.h"
+#include "vino_core_lib/outputs/ros_topic_output.h"
+#include "vino_core_lib/outputs/rviz_output.h"
+#include "vino_core_lib/pipeline.h"
+#include "vino_core_lib/pipeline_manager.h"
+#include "vino_core_lib/slog.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
-#include "sample/utility.hpp"
+#include "vino_sample/utility.hpp"
 
 bool parseAndCheckCommandLine(int argc, char** argv)
 {
diff --git a/sample/src/image_people_client.cpp b/vino_sample/src/image_people_client.cpp
similarity index 90%
rename from sample/src/image_people_client.cpp
rename to vino_sample/src/image_people_client.cpp
index 5dfb1b60..1b375c80 100644
--- a/sample/src/image_people_client.cpp
+++ b/vino_sample/src/image_people_client.cpp
@@ -23,7 +23,7 @@
 #include <ros/package.h>
 #include <ros/ros.h>
 
-#include <people_msgs/PeopleSrv.h>
+#include <vino_people_msgs/PeopleSrv.h>
 
 
 
@@ -33,15 +33,15 @@ int main(int argc, char ** argv)
   ros::NodeHandle n;
 
   if (argc != 2) {
-    ROS_INFO( "Usage: rosrun dynamic_vino_sample image_people_client"
+    ROS_INFO( "Usage: rosrun vino_sample image_people_client"
       "<image_path>");
     return -1;
   }
 
 
-  ros::ServiceClient client = n.serviceClient<people_msgs::PeopleSrv>("/openvino_toolkit/service");
+  ros::ServiceClient client = n.serviceClient<vino_people_msgs::PeopleSrv>("/openvino_toolkit/service");
 
-  people_msgs::PeopleSrv srv;
+  vino_people_msgs::PeopleSrv srv;
 
   if (client.call(srv))
   {
diff --git a/sample/src/image_people_server.cpp b/vino_sample/src/image_people_server.cpp
similarity index 71%
rename from sample/src/image_people_server.cpp
rename to vino_sample/src/image_people_server.cpp
index 92520ec5..cde7e21d 100644
--- a/sample/src/image_people_server.cpp
+++ b/vino_sample/src/image_people_server.cpp
@@ -40,24 +40,24 @@
 #include <utility>
 
 #include <vino_param_lib/param_manager.h>
-#include "dynamic_vino_lib/common.h"
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/factory.h"
-#include "dynamic_vino_lib/inferences/age_gender_detection.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/inferences/emotions_detection.h"
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/inferences/head_pose_detection.h"
-#include "dynamic_vino_lib/inputs/realsense_camera_topic.h"
-#include "dynamic_vino_lib/outputs/image_window_output.h"
-#include "dynamic_vino_lib/outputs/ros_topic_output.h"
-#include "dynamic_vino_lib/outputs/rviz_output.h"
-#include "dynamic_vino_lib/pipeline.h"
-#include "dynamic_vino_lib/pipeline_manager.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/common.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/factory.h"
+#include "vino_core_lib/inferences/age_gender_detection.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/inferences/emotions_detection.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/inferences/head_pose_detection.h"
+#include "vino_core_lib/inputs/realsense_camera_topic.h"
+#include "vino_core_lib/outputs/image_window_output.h"
+#include "vino_core_lib/outputs/ros_topic_output.h"
+#include "vino_core_lib/outputs/rviz_output.h"
+#include "vino_core_lib/pipeline.h"
+#include "vino_core_lib/pipeline_manager.h"
+#include "vino_core_lib/slog.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
-#include "sample/utility.hpp"
+#include "vino_sample/utility.hpp"
 
 
 bool parseAndCheckCommandLine(int argc, char** argv)
@@ -89,7 +89,7 @@ int main(int argc, char** argv)
   slog::info << "service name=" << service_name << slog::endl;
 
   auto node = std::make_shared<vino_service::FrameProcessingServer
-    <people_msgs::PeopleSrv>>(service_name, FLAGS_config);
+    <vino_people_msgs::PeopleSrv>>(service_name, FLAGS_config);
   
   slog::info << "Waiting for service request..." << slog::endl;
   
diff --git a/sample/src/image_reidentification_client.cpp b/vino_sample/src/image_reidentification_client.cpp
similarity index 89%
rename from sample/src/image_reidentification_client.cpp
rename to vino_sample/src/image_reidentification_client.cpp
index 70a94991..74f04fd3 100644
--- a/sample/src/image_reidentification_client.cpp
+++ b/vino_sample/src/image_reidentification_client.cpp
@@ -24,7 +24,7 @@
 #include <ros/ros.h>
 #include "opencv2/opencv.hpp"
 
-#include <people_msgs/ReidentificationSrv.h>
+#include <vino_people_msgs/ReidentificationSrv.h>
 
 
 
@@ -34,10 +34,10 @@ int main(int argc, char ** argv)
 
   ros::NodeHandle n;
 
-  ros::ServiceClient client = n.serviceClient<people_msgs::ReidentificationSrv>("/openvino_toolkit/service");
+  ros::ServiceClient client = n.serviceClient<vino_people_msgs::ReidentificationSrv>("/openvino_toolkit/service");
 
 
-  people_msgs::ReidentificationSrv srv;
+  vino_people_msgs::ReidentificationSrv srv;
 
   if (client.call(srv))
   {
@@ -68,4 +68,4 @@ int main(int argc, char ** argv)
 }
 
 
- 
\ No newline at end of file
+ 
diff --git a/sample/src/image_reidentification_server.cpp b/vino_sample/src/image_reidentification_server.cpp
similarity index 71%
rename from sample/src/image_reidentification_server.cpp
rename to vino_sample/src/image_reidentification_server.cpp
index 86293ddb..3ddb5480 100644
--- a/sample/src/image_reidentification_server.cpp
+++ b/vino_sample/src/image_reidentification_server.cpp
@@ -40,25 +40,25 @@
 #include <utility>
 
 #include <vino_param_lib/param_manager.h>
-#include "dynamic_vino_lib/common.h"
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/factory.h"
-#include "dynamic_vino_lib/inferences/age_gender_detection.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/inferences/emotions_detection.h"
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/inferences/head_pose_detection.h"
-#include "dynamic_vino_lib/inputs/realsense_camera_topic.h"
-#include "dynamic_vino_lib/outputs/image_window_output.h"
-#include "dynamic_vino_lib/outputs/ros_topic_output.h"
-#include "dynamic_vino_lib/outputs/rviz_output.h"
-#include "dynamic_vino_lib/pipeline.h"
-#include "dynamic_vino_lib/pipeline_manager.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/common.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/factory.h"
+#include "vino_core_lib/inferences/age_gender_detection.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/inferences/emotions_detection.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/inferences/head_pose_detection.h"
+#include "vino_core_lib/inputs/realsense_camera_topic.h"
+#include "vino_core_lib/outputs/image_window_output.h"
+#include "vino_core_lib/outputs/ros_topic_output.h"
+#include "vino_core_lib/outputs/rviz_output.h"
+#include "vino_core_lib/pipeline.h"
+#include "vino_core_lib/pipeline_manager.h"
+#include "vino_core_lib/slog.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
-#include "sample/utility.hpp"
-#include <people_msgs/ReidentificationSrv.h>
+#include "vino_sample/utility.hpp"
+#include <vino_people_msgs/ReidentificationSrv.h>
 
 
 bool parseAndCheckCommandLine(int argc, char** argv)
@@ -90,7 +90,7 @@ int main(int argc, char** argv)
 
 
   auto node = std::make_shared<vino_service::FrameProcessingServer
-    <people_msgs::ReidentificationSrv>>(service_name, FLAGS_config);
+    <vino_people_msgs::ReidentificationSrv>>(service_name, FLAGS_config);
   
   slog::info << "Waiting for reid service request..." << slog::endl;
   ros::spin();
diff --git a/sample/src/image_segmentation_client.cpp b/vino_sample/src/image_segmentation_client.cpp
similarity index 90%
rename from sample/src/image_segmentation_client.cpp
rename to vino_sample/src/image_segmentation_client.cpp
index be98d04a..5ce95813 100644
--- a/sample/src/image_segmentation_client.cpp
+++ b/vino_sample/src/image_segmentation_client.cpp
@@ -24,7 +24,7 @@
 #include <ros/ros.h>
 #include "opencv2/opencv.hpp"
 
-#include <people_msgs/ObjectsInMasksSrv.h>
+#include <vino_people_msgs/ObjectsInMasksSrv.h>
 
 
 
@@ -34,10 +34,10 @@ int main(int argc, char ** argv)
 
   ros::NodeHandle n;
 
-  ros::ServiceClient client = n.serviceClient<people_msgs::ObjectsInMasksSrv>("/openvino_toolkit/service");
+  ros::ServiceClient client = n.serviceClient<vino_people_msgs::ObjectsInMasksSrv>("/openvino_toolkit/service");
 
 
-  people_msgs::ObjectsInMasksSrv srv;
+  vino_people_msgs::ObjectsInMasksSrv srv;
 
   if (client.call(srv))
   {
@@ -69,4 +69,4 @@ int main(int argc, char ** argv)
 }
 
 
- 
\ No newline at end of file
+ 
diff --git a/sample/src/image_segmentation_server.cpp b/vino_sample/src/image_segmentation_server.cpp
similarity index 72%
rename from sample/src/image_segmentation_server.cpp
rename to vino_sample/src/image_segmentation_server.cpp
index 34288a29..4536ba15 100644
--- a/sample/src/image_segmentation_server.cpp
+++ b/vino_sample/src/image_segmentation_server.cpp
@@ -40,24 +40,24 @@
 #include <utility>
 
 #include <vino_param_lib/param_manager.h>
-#include "dynamic_vino_lib/common.h"
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/factory.h"
-#include "dynamic_vino_lib/inferences/age_gender_detection.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/inferences/emotions_detection.h"
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/inferences/head_pose_detection.h"
-#include "dynamic_vino_lib/inputs/realsense_camera_topic.h"
-#include "dynamic_vino_lib/outputs/image_window_output.h"
-#include "dynamic_vino_lib/outputs/ros_topic_output.h"
-#include "dynamic_vino_lib/outputs/rviz_output.h"
-#include "dynamic_vino_lib/pipeline.h"
-#include "dynamic_vino_lib/pipeline_manager.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/common.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/factory.h"
+#include "vino_core_lib/inferences/age_gender_detection.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/inferences/emotions_detection.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/inferences/head_pose_detection.h"
+#include "vino_core_lib/inputs/realsense_camera_topic.h"
+#include "vino_core_lib/outputs/image_window_output.h"
+#include "vino_core_lib/outputs/ros_topic_output.h"
+#include "vino_core_lib/outputs/rviz_output.h"
+#include "vino_core_lib/pipeline.h"
+#include "vino_core_lib/pipeline_manager.h"
+#include "vino_core_lib/slog.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
-#include "sample/utility.hpp"
+#include "vino_sample/utility.hpp"
 
 
 
@@ -90,7 +90,7 @@ int main(int argc, char** argv)
 
 
   auto node = std::make_shared<vino_service::FrameProcessingServer
-    <people_msgs::ObjectsInMasksSrv>>(service_name, FLAGS_config);
+    <vino_people_msgs::ObjectsInMasksSrv>>(service_name, FLAGS_config);
   
   slog::info << "Waiting for seg service request..." << slog::endl;
   ros::spin();
diff --git a/sample/src/pipeline_with_params.cpp b/vino_sample/src/pipeline_with_params.cpp
similarity index 79%
rename from sample/src/pipeline_with_params.cpp
rename to vino_sample/src/pipeline_with_params.cpp
index 475d6cb3..e1bb29e1 100644
--- a/sample/src/pipeline_with_params.cpp
+++ b/vino_sample/src/pipeline_with_params.cpp
@@ -40,24 +40,24 @@
 #include <utility>
 
 #include <vino_param_lib/param_manager.h>
-#include "dynamic_vino_lib/common.h"
-#include "dynamic_vino_lib/engines/engine.h"
-#include "dynamic_vino_lib/factory.h"
-#include "dynamic_vino_lib/inferences/age_gender_detection.h"
-#include "dynamic_vino_lib/inferences/base_inference.h"
-#include "dynamic_vino_lib/inferences/emotions_detection.h"
-#include "dynamic_vino_lib/inferences/face_detection.h"
-#include "dynamic_vino_lib/inferences/head_pose_detection.h"
-#include "dynamic_vino_lib/inputs/realsense_camera_topic.h"
-#include "dynamic_vino_lib/outputs/image_window_output.h"
-#include "dynamic_vino_lib/outputs/ros_topic_output.h"
-#include "dynamic_vino_lib/outputs/rviz_output.h"
-#include "dynamic_vino_lib/pipeline.h"
-#include "dynamic_vino_lib/pipeline_manager.h"
-#include "dynamic_vino_lib/slog.h"
+#include "vino_core_lib/common.h"
+#include "vino_core_lib/engines/engine.h"
+#include "vino_core_lib/factory.h"
+#include "vino_core_lib/inferences/age_gender_detection.h"
+#include "vino_core_lib/inferences/base_inference.h"
+#include "vino_core_lib/inferences/emotions_detection.h"
+#include "vino_core_lib/inferences/face_detection.h"
+#include "vino_core_lib/inferences/head_pose_detection.h"
+#include "vino_core_lib/inputs/realsense_camera_topic.h"
+#include "vino_core_lib/outputs/image_window_output.h"
+#include "vino_core_lib/outputs/ros_topic_output.h"
+#include "vino_core_lib/outputs/rviz_output.h"
+#include "vino_core_lib/pipeline.h"
+#include "vino_core_lib/pipeline_manager.h"
+#include "vino_core_lib/slog.h"
 #include "inference_engine.hpp"
 #include "opencv2/opencv.hpp"
-#include "sample/utility.hpp"
+#include "vino_sample/utility.hpp"
 
 void signalHandler(int signum)
 {