We present and characterize a simple method for detecting pointing gestures suitable for human-robot interaction applications using a commodity RGB-D camera. We exploit a state-of-the-art Deep CNN-based detector to find hands and faces in RGB images, then examine the corresponding depth channel pixels to obtain full 3D pointing vectors. We test several methods of estimating the hand end-point of the pointing vector. The system runs at better than 30Hz on commodity hardware: exceeding the frame rate of typical RGB-D sensors. An estimate of the absolute pointing accuracy is found empirically by comparison with ground-truth data from a VICON motion-capture system, and the useful interaction volume established. Finally, we show an end-to-end test where a robot estimates where the pointing vector intersects the ground plane, and report the accuracy obtained. We provide source code as a ROS node, with the intention of contributing a commodity implementation of this common component in HRI systems.
Hand and Arm Gesture-based Human-Robot Interaction: A Review
Technical University of Munich（慕尼黑工业大学）；Fortiss GmbH（Fortiss有限公司）；Fujian Science & Technology Innovation Laboratory for Optoelectronic Information of China（中国福建光电信息科学技术创新实验室）
Towards Intuitive Human-Robot Interaction through Embodied Gesture-Driven Control with Woven Tactile Skins
Centre for Perceptual and Interactive Intelligence (CPII)（感知与交互智能中心）；Department of Mechanical and Automation Engineering（机械与自动化工程系）；Texense Ltd.（Texense有限公司）；Department of Mechanical, Aerospace and Civil Engineering（机械、航空航天与土木工程系）
HiSync: Spatio-Temporally Aligning Hand Motion from Wearable IMU and On-Robot Camera for Command Source Identification in Long-Range HRI
Department of Computer Science；Technology, BNRist Tsinghua University Beijing China；Technology, BNRist, College of AI Tsinghua University Beijing China；Technology Tsinghua University Beijing China；Beijing University of Posts；Academy of Arts \& Design Tsinghua University Beijing China；Qinghai University Xining China；Tsinghua University；Technology, BNRist, College of AI；Technology Tsinghua University；Academy of Arts \& Design Tsinghua University；Qinghai University
Improving Tactile Gesture Recognition with Optical Flow
Oxford Robotics Institute (ORI), University of Oxford, UK（牛津大学机器人研究所）；Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, IT（基因瓦大学信息学、生物工程、机器人与系统工程系）
A Bimanual Gesture Interface for ROS-Based Mobile Manipulators Using TinyML and Sensor Fusion
†‡Department of Mechatronics Engineering, Rajshahi University of Engineering \& Technology, Kazla, Rajshahi-6204, Bangladesh §Department of Electrical \& Systems Engineering, School of Engineering \& Applied Science, University of Pennsylvania, Philadelphia, PA 19104, United States Email: , †, ‡, §
Development of a Humanoid Robot Prototype for Multimodal Human-Robot Interaction
University of Engineering and Technology, Vietnam National University, Hanoi（越南国家大学河内工程技术大学）；School of Information Science, Japan Advanced Institute of Science and Technology（日本先进科学技术学院信息科学学院）
Real-Time Multimodal Signal Processing for HRI in RoboCup: Understanding a Human Referee
Peoples' Friendship University of Russia (RUDN University)（俄罗斯人民友谊大学（RUDN大学））；Joint Institute for Nuclear Research（联合核子研究所）；Vrije Universiteit Amsterdam（阿姆斯特丹自由大学）；University of Skövde（舍夫德大学）；Sapienza University of Rome（罗马第一大学（萨皮恩扎大学））；Institute for Cognitive Sciences and Technologies, National Research Council, Italy（意大利国家研究委员会认知科学与技术研究所）；University of Basilicata（巴西利卡塔大学）；University of International Studies of Rome – UNINT（罗马国际研究大学（UNINT））
Enabling Intuitive Human-Robot Teaming Using Augmented Reality and Gesture Control
US CCDC Army Research Laboratory（美国CCDC陆军研究实验室）；Oak Ridge Associated Universities（橡树岭联合大学）；Defence Science and Technology（国防科学技术集团）；Swinburne University of Technology（斯威本科技大学）
Real-time Human Finger Pointing Recognition and Estimation for Robot Directives Using a Single Web-Camera
Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT)（麻省理工学院机械工程系）；School of Mechanical Engineering, Tel-Aviv University（特拉维夫大学机械工程学院）
Continuous ErrP detections during multimodal human-robot interaction
German Research Center for Artificial Intelligence (DFKI)（德国人工智能研究中心（DFKI））；University of Duisburg-Essen（杜伊斯堡-埃森大学）；Institute of Medical Technology Systems（医疗技术系统研究所）
Interpretable Robot Control via Structured Behavior Trees and Large Language Models
Automation and Robotics Research Group (ARG), Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg（自动化与机器人研究组（ARG）、安全、可靠性与信任跨学科中心（SnT）、卢森堡大学）
Your Robot Will Feel You Now: Empathy in Robots and Embodied Agents
School of Computing Science, Simon Fraser University（计算科学学院，西蒙弗雷泽大学）；School of Interactive Arts and Technology, Simon Fraser University（交互艺术与技术学院，西蒙弗雷泽大学）
