Real-Time Online Skeleton Extraction and Gesture Recognition on Pepper
This work addresses the problem of handling unknown human gestures in real-case scenarios for robotics applications, though it appears incremental as it associates existing technologies.
The authors tackled real-time skeleton extraction and gesture recognition on Pepper robots by developing a multi-stage pipeline that combines different technologies, achieving the first real-time system for this task with an embedded GPU and fish-eye camera.
We present a multi-stage pipeline for simple gesture recognition. The novelty of our approach is the association of different technologies, resulting in the first real-time system as of now to conjointly extract skeletons and recognise gesture on a Pepper robot. For this task, Pepper has been augmented with an embedded GPU for running deep CNNs and a fish-eye camera to capture whole scene interaction. We show in this article that real-case scenarios are challenging, and the state-of-the-art approaches hardly deal with unknown human gestures. We present here a way to handle such cases.