Real-Time Hand Gesture Recognition for Human Robot Interaction

In this article a hand gesture recognition system that allows interacting with a service robot, in dynamic environments and in real-time, is proposed. The system detects hands and static gestures using cascade of boosted classifiers, and recognize dynamic gestures by computing temporal statistics of the hand’s positions and velocities, and classifying these features using a Bayes classifier. The main novelty of the proposed approach is the use of context information to adapt continuously the skin model used in the detection of hand candidates, to restrict the image’s regions that need to be analyzed, and to cut down the number of scales that need to be considered in the hand-searching and gesture-recognition processes. The system performance is validated in real video sequences. In average the system recognized static gestures in 70% of the cases, dynamic gestures in 75% of them, and it runs at a variable speed of 5-10 frames per second