See what I mean - Probabilistic optimization of robot pointing gestures

Khurram Gulzar, Ville Kyrki

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

6 Citations (Scopus)


Humans use gestures such as pointing extensively in order to anchor linguistic expressions to objects in the physical world. Similarly gestures can be valuable in decentralized robotic systems, allowing communication between agents and transfer of symbolic meanings. Pointing gestures are especially valuable in crowded scenes where multiple possible matches are present. However, pointing in crowded scenes can itself remain ambiguous if the pointing direction is not carefully chosen. This paper proposes a probabilistic model for pointing and gesture detection accuracy. The model allows planning optimal pointing actions by minimizing the probability of pointing errors due to ambiguities and limited accuracy. We also describe how to measure the accuracy of an agent's pointing gesture and to calibrate the model for that agent. Experimental results suggest that the proposed model captures the qualitative behavior of pointing success well.

Original languageEnglish
Title of host publicationIEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)978-1-4799-6884-8
ISBN (Print)9781479968855
Publication statusPublished - 22 Dec 2015
MoE publication typeA4 Article in a conference publication
EventIEEE-RAS International Conference on Humanoid Robots - Seoul, Korea, Republic of
Duration: 3 Nov 20155 Nov 2015
Conference number: 15


ConferenceIEEE-RAS International Conference on Humanoid Robots
Abbreviated titleHumanoids
Country/TerritoryKorea, Republic of


  • Mathematical model
  • Planning
  • Probabilistic logic
  • Probability
  • Robot kinematics
  • Shoulder


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