Gesture recognition using the Perseus architecture
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
3-D model-based tracking of human upper body movement: a multi-view approach
ISCV '95 Proceedings of the International Symposium on Computer Vision
Template-based recognition of pose and motion gestures on a mobile robot
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Gesture-based interaction with a pet robot
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
A Gesture Based Interface for Human-Robot Interaction
Autonomous Robots
Building a Multimodal Human-Robot Interface
IEEE Intelligent Systems
A Line-Scan Computer Vision Algorithm for Identifying Human Body Features
GW '99 Proceedings of the International Gesture Workshop on Gesture-Based Communication in Human-Computer Interaction
Person Localization and Posture Recognition for Human-Robot Interaction
GW '99 Proceedings of the International Gesture Workshop on Gesture-Based Communication in Human-Computer Interaction
Evaluation of a visual interface for gesticulation recognition
Proceedings of the Latin American conference on Human-computer interaction
Human-Robot Interaction Through Gesture-Free Spoken Dialogue
Autonomous Robots
Robotics and Autonomous Systems
Exploring the use of tangible user interfaces for human-robot interaction: a comparative study
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Toward Human Arm Attention and Recognition
Neural Information Processing
Toward a framework for human-robot interaction
Human-Computer Interaction
3D model-based tracking of the human body in monocular gray-level images
MIRAGE'07 Proceedings of the 3rd international conference on Computer vision/computer graphics collaboration techniques
Vision-based hand-gesture applications
Communications of the ACM
Gesture recognition by stereo vision
Proceedings of the First International Conference on Intelligent Interactive Technologies and Multimedia
On the performance evaluation of a vision-based human-robot interaction framework
Proceedings of the Workshop on Performance Metrics for Intelligent Systems
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Gesture recognition is an important skill for robots that work closely with humans. Gestures help to clarify spoken commands and are a compact means of relaying geometric information. We have developed a real-time, three-dimensional gesture recognition system that resides on-board a mobile robot. Using a coarse three-dimensional model of a human to guide stereo measurements of body parts, the system is capable of recognizing six distinct gestures made by an unadorned human in an unaltered environment. An active vision approach focuses the vision system's attention on small, moving areas of space to allow for frame rate processing even when the person and/or the robot are moving. This paper describes the gesture recognition system, including the coarse model and the active vision approach. This paper also describes how the gesture recognition system is integrated with an intelligent control architecture to allow for complex gesture interpretation and complex robot action. Results from experiments with an actual mobile robot are given.