Human-Robot Interaction Using Pointing Gestures

Abstract

Our research presented in this paper focuses on HRI (Human-Robot Interaction) via pointing gestures. We've designed a method where human operator points to a specific location and subsequently a mobile robot drives to the designated location. A depth sensor is used to capture operator's position and gesture. The key to our algorithm is 3D positions of operator's body joints. We further our previous research by analysis of two depth sensors, Kinect v1 and Kinect v2, in their ability to detect body joints.