A robust gesture detection and recognition algorithm for domestic robot interactions

Pramod Kumar Pisharady, Martin Saerbeck

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

An algorithm for the robust detection and recognition of gestures for the interaction between human and a domestic floor cleaner robot is presented. The gestures are selected through a user study, in which the participants are asked to show natural gestures to the robot in given specific interaction scenarios. The gestures selected are those repeated by majority of participants and consist both commanding (say start cleaning) and social interaction (say greeting) gestures. The gesture recognition algorithm is developed using a combination of robust angular, positional, and directional features. The frontal and sagittal plains of human body are identified and invariant angular features are extracted from the skeletal data of a Kinect sensor. Robust positional and directional features are extracted by skeletal reconstruction using the invariant angular features and link rotation matrices. Dynamic time warping of features is done to make the algorithm robust to gesturing speed. Gestures are detected and recognized by calculating multiclass probability estimates by pairwise coupling method. The algorithm provided 97.26% recognition accuracy for a ten class robot commanding gesture database collected from multiple subjects.

Original languageEnglish (US)
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages775-780
Number of pages6
ISBN (Electronic)9781479951994
DOIs
StatePublished - Jan 1 2014
Event2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore
Duration: Dec 10 2014Dec 12 2014

Publication series

Name2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

Other

Other2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
CountrySingapore
CitySingapore
Period12/10/1412/12/14

Keywords

  • Gesture recognition
  • depth camera
  • dynamic time warping
  • human-robot interaction
  • robust features
  • skeletal reconstruction

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