Human-robot interaction simulation device and method based on high-realistic virtual avatar
A realistic and robotic technology, applied in the field of robot simulation, can solve problems such as difficulty in interactive signals, limited effectiveness of simulation verification of robot interaction algorithms, and inability to accurately reproduce relevant details of the user's face, so as to reduce R&D costs and shorten the development cycle Effect
Active Publication Date: 2020-09-29
ZHEJIANG LAB
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Problems solved by technology
The sense of immersion brought by the use of virtual reality head-mounted displays is very helpful for the simulation verification of interactive algorithms, but the face occlusion caused by wearing the head-mounted display brings great difficulties to capture interactive signals such as the user's gaze and facial expressions, making it impossible for virtual avatars to Accurately reproduce relevant details of the user's face
The above problems all lead to incomplete non-verbal interaction signals reproduced by virtual avatars, which limits the effectiveness of simulation verification of robot interaction algorithms
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[0035] The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become clearer. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.
[0036] A human-robot interaction simulation device based on a high-realistic virtual avatar, such as figure 1 shown, including:
[0037] Two sets of multi-view camera systems are composed of multiple cameras, one of which is arranged around the user, and the other is arranged around the user's hemisphere, which is used to shoot the user's whole body and partial video during the preprocessing stage of the virtual avatar;
[0038] Avatar pre-processing module: used to input videos taken by two sets of multi-view camera systems, and output user avatar templates containing multiple sub-models;
[0039] Depth...
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The invention discloses a human-robot interactive simulation device and method based on a high-realistic virtual avatar. The device includes two multi-view camera systems each composed of multiple cameras, a virtual avatar preprocessing module, a depth camera, and Virtual reality headset, avatar reconstruction module and robot simulation module. In the present invention, the user observes the virtual robot from the first perspective in the virtual scene by wearing a virtual reality head-mounted display, and controls the virtual avatar with a high sense of reality to realize non-language interaction with the virtual robot, which provides an effective means of verifying the interaction ability of the robot through simulation for robot development. The method shortens the cycle of robot development.
Description
technical field [0001] The invention relates to the field of robot simulation, in particular to a human-robot interaction simulation device and method based on a high-realistic virtual avatar. Background technique [0002] Robot system simulation is very important in the design process of the robot, which can perform fast algorithm verification, thereby shortening the iteration cycle. Human-robot interaction is a key function of human-robot collaborative robots such as service robots. The simulation system of this type of robot needs to simulate the interaction process of multiple modes between the user and the robot to verify the effectiveness of the robot interaction algorithm. Common ways of interaction between humans and robots include verbal and non-verbal interactions. Among them, the simulation of language interaction is relatively simple, while the simulation of non-language interaction includes gaze, expression, body movements, and gestures, etc., and its simulati...
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IPC IPC(8): G06F3/01G06T17/00G06T19/00
CPCG06F3/011G06T17/00G06T19/006
Inventor 於其之朱世强
Owner ZHEJIANG LAB