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Visual interpretation of natural pointing gestures is essential in a human robot interaction scenario. Both hands and head are involved in pointing behaviors. Given the color images acquired by a web camera and the depth data by a TOF range camera, we perform visual tracking of the head and hands in 3D space. We investigate both the Head-Finger Line (HFL) and the forearm orientation as the estimation...
Recognition of non-verbal gestures is essential for robots to understand a user's state and intention in a Human-Robot Interaction (HRI) scenario. In this paper a multi-modal system is proposed to recognize a user's hand gestures and estimate body poses from the robot's viewpoint only. A range camera is employed to derive the depth data at a high frame rate. Depth data is useful for image segmentation,...
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