Papers › A Proposed Set of Communicative Gestures for Human Robot Interaction and an RGB...
A Proposed Set of Communicative Gestures for Human Robot Interaction and an RGB Image-based Gesture Recognizer Implemented in ROS
Jia Chuan A. Tan, Wesley P. Chan, Nicole L. Robinson, Elizabeth A. Croft, Dana Kulic
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for human-robot interaction. Next, an online user study with 190 participants was performed to investigate if there was an agreed set of gestures that people intuitively use to communicate the given commands to robots when no guidance or training were given. As we found large variations among the gestures exist between participants, we then proposed a set of gestures for the proposed commands to be used as a common foundation for robot interaction. We collected ~7500 video demonstrations of the proposed gestures and trained a gesture recognition model, adapting 3D Convolutional Neural Networks (CNN) as the classifier, with a final accuracy of 84.1% (sigma=2.4). The resulting model was capable of training successfully with a relatively small amount of training data. We integrated the gesture recognition model into the ROS framework and report details for a demonstrated use case, where a person commands a robot to perform a pick and place task using the proposed set. This integrated ROS gesture recognition system is made available for use, and built with the intention to allow for new adaptations depending on robot model and use case scenarios, for novel user applications.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections