Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC). However, it is challenging to simulate human behaviors, and existing robotics simulators do not integrate functional human models. This work presents Open-VICO, an open-source toolkit to integrate virtual human models in Gazebo focusing on vision-based human tracking. In particular, Open-VICO allows to combine in the same simulation environment realistic human kinematic models, multi-camera vision setups, and human-tracking techniques along with numerous robot and sensor models thanks to Gazebo. The possibility to incorporate pre-recorded human skeleton motion with Motion Capture systems broadens the landscape of human performance behavioral analysis within Human-Robot Interaction (HRI) settings. To describe the functionalities and stress the potential of the toolkit four specific examples, chosen among relevant literature challenges in the field, are developed using our simulation utils: i) 3D multi-RGB-D camera calibration in simulation, ii) creation of a synthetic human skeleton tracking dataset based on OpenPose, iii) multi-camera scenario for human skeleton tracking in simulation, and iv) a human-robot interaction example. The key of this work is to create a straightforward pipeline which we hope will motivate research on new vision-based algorithms and methodologies for lightweight human-tracking and flexible human-robot applications.
翻译:模拟工具对于机器人研究至关重要,特别是对于安全至关重要的领域,如人类机器人协作(HRC),模拟人类行为具有挑战性,而现有的机器人模拟器并不将功能性人类模型整合在一起。这项工作提供了开放VICO,这是一个开放源码工具包,用于在Gazebo整合虚拟人类模型,重点是基于视觉的人类跟踪。特别是,开放VICO允许在同一模拟环境中结合现实的人类运动模型、多摄像-图像设置和人类跟踪技术以及由于Gazebo而获得的众多机器人和传感器模型。将预先记录的人类骨架运动与运动采集系统结合起来的可能性扩大了人类行为分析在人类机器人互动(HRI)环境中的景观。为了描述和强调工具包在现场相关文献挑战中选择的四个具体例子,正在利用我们的模拟工具:i)基于3D多RGB-D的图像校准,以及新的人类骨架跟踪数据集,以OpenPose、三)在人类行为轨迹互动环境中的模型和人类行为模型模拟中,将创建人类的人类的模型,在人类的模拟中,将创造人类的模拟的模型和人类的模型模型的模型。