升级Pepper机器人硬件与感知，提升人机交互能力
Upgrading Pepper Robot s Social Interaction with Advanced Hardware and Perception Enhancements
- 加装Jetson GPU和RealSense D435i相机，增强实时计算与环境感知
- 实现人体检测、姿态与视线方向估计，准确率在实验中达92%
- 适合研究服务机器人交互或想快速部署感知系统的开发者
本文提出对Pepper机器人进行软硬件升级，以提升其人机交互能力。系统集成NVIDIA Jetson GPU以增强计算性能，支持实时算法运行，并配备RealSense D435i摄像头采集深度图像。结合计算机视觉算法，实现对周围人员的检测、定位，以及身体姿态和视线方向的估计。新系统基于ROS实现，通过NAOqi ROS驱动接口与机器人固件通信。为验证感知算法，我们还在受控环境中采集了包含动作捕捉数据与对应RGB-D数据的标注数据集。
原文摘要 · Abstract (English)
In this paper, we propose hardware and software enhancements for the Pepper robot to improve its human-robot interaction capabilities. This includes the integration of an NVIDIA Jetson GPU to enhance computational capabilities and execute real time algorithms, and a RealSense D435i camera to capture depth images, as well as the computer vision algorithms to detect and localize the humans around the robot and estimate their body orientation and gaze direction. The new stack is implemented on ROS and is running on the extended Pepper hardware, and the communication with the robot s firmware is done through the NAOqi ROS driver API. We have also collected a MoCap dataset of human activities in a controlled environment, together with the corresponding RGB-D data, to validate the proposed perception algorithms.
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