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Simulation tools are essential for robotics research, especially for thosedomains in which safety is crucial, such as Human-Robot Collaboration (HRC).However, it is challenging to simulate human behaviors, and existing roboticssimulators do not integrate functional human models. This work presentsOpen-VICO, an open-source toolkit to integrate virtual human models in Gazebofocusing on vision-based human tracking. In particular, Open-VICO allows tocombine in the same simulation environment realistic human kinematic models,multi-camera vision setups, and human-tracking techniques along with numerousrobot and sensor models thanks to Gazebo. The possibility to incorporatepre-recorded human skeleton motion with Motion Capture systems broadens thelandscape of human performance behavioral analysis within Human-RobotInteraction (HRI) settings. To describe the functionalities and stress thepotential of the toolkit four specific examples, chosen among relevantliterature challenges in the field, are developed using our simulation utils:i) 3D multi-RGB-D camera calibration in simulation, ii) creation of a synthetichuman skeleton tracking dataset based on OpenPose, iii) multi-camera scenariofor human skeleton tracking in simulation, and iv) a human-robot interactionexample. The key of this work is to create a straightforward pipeline which wehope will motivate research on new vision-based algorithms and methodologiesfor lightweight human-tracking and flexible human-robot applications.

Open-VICO: An Open-Source Gazebo Toolkit for Vision-based Skeleton Tracking in Human-Robot Collaboration