一种基于三维建图和虚拟现实的人机交互系统

以提高人机共融水平为目的,以救援机器人为背景,提出并实现基于三维建图和虚拟现实(VR)技术的人机交互系统.在该系统中,救援机器人基于多线激光雷达和惯性测量单元(IMU)实时构建环境的三维点云地图,并将建图结果增量式地表示为3D-NDT地图,实时传输至操作台的虚拟现实系统中可视化;同时,操作人员利用虚拟现实系统的交互设备生成机器人的控制指令,控制机器人运动,构成一个完整的人在回路的人机交互系统.该系统在将机器人环境实时在虚拟现实中可视化的基础上,可以给操作人员以极强的沉浸感,有利于操作人员更直接地理解机器人所处环境.此外,该系统作为一种新的人机交互方式,为提高人与机器人的自然交互水平提供了新思路,对促进人机交互技术的发展具有重要意义.

A human-robot interaction system based on 3D mapping and virtual reality

In order to improve the level of the human-robot interaction(HRI), a HRI system based on 3D mapping and virtual reality(VR) is proposed, which is realized for rescue robots. In this system, rescue robots construct the 3D environment point map in the complex post-disaster environment based on a multi-line laser radar and an inertial measurement unit(IMU), which is represented using the 3D-NDT representation method. The map is then incrementally transmitted to the VR system. In the VR side, the human operator uses interactive devices to generate robot control commands to tele-control the robot''s movement, in order to perform the rescue task. Using the proposed system, the operator can obtain a strong sense of immersion, and can understand the robot''s working environment more directly based on the real-time visualization of the robot environment in virtual reality. In addition, as a new way of human-robot interaction, the proposed system provides new ideas to improve the natural level of interaction between the robot and the human operator, and is of great importance to promote the development of human-robot interaction technology.