Evaluating Pointing Gestures for Target Selection in Human-Robot Collaboration

• URL: http://arxiv.org/abs/2506.22116v1
• Date: Fri, 27 Jun 2025 10:51:31 GMT
• Title: Evaluating Pointing Gestures for Target Selection in Human-Robot Collaboration
• Authors: Noora Sassali, Roel Pieters,
• Abstract summary: This study introduces a method for localizing pointed targets within a planar workspace.<n>The approach employs pose estimation, and a simple geometric model based on shoulder-wrist extension to extract gesturing data from an RGB-D stream.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a planar workspace. The approach employs pose estimation, and a simple geometric model based on shoulder-wrist extension to extract gesturing data from an RGB-D stream. The study proposes a rigorous methodology and comprehensive analysis for evaluating pointing gestures and target selection in typical robotic tasks. In addition to evaluating tool accuracy, the tool is integrated into a proof-of-concept robotic system, which includes object detection, speech transcription, and speech synthesis to demonstrate the integration of multiple modalities in a collaborative application. Finally, a discussion over tool limitations and performance is provided to understand its role in multimodal robotic systems. All developments are available at: https://github.com/NMKsas/gesture_pointer.git.

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