Vision based GUI for interactive mobile robots

Interactive mobile robots are an active area of research. This paper presents a framework for designing a real-time vision based hand-body gesture user interface for such robots. The said framework works in real world lighting conditions, with complex background, and can handle intermittent motion of the camera. The input signal is captured by using a singular monocular color camera. Vision is the only feedback sensor being used. It is assumed that the gesturer is wearing clothes that are slightly different from the background. We have tested this framework on a gesture database consisting of 11 hand-body gestures and have recorded recognition accuracy up to 90%.