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We present and characterize a simple method for detecting pointing gesturessuitable for human-robot interaction applications using a commodity RGB-Dcamera. We exploit a state-of-the-art Deep CNN-based detector to find hands andfaces in RGB images, then examine the corresponding depth channel pixels toobtain full 3D pointing vectors. We test several methods of estimating the handend-point of the pointing vector. The system runs at better than 30Hz oncommodity hardware: exceeding the frame rate of typical RGB-D sensors. Anestimate of the absolute pointing accuracy is found empirically by comparisonwith ground-truth data from a VICON motion-capture system, and the usefulinteraction volume established. Finally, we show an end-to-end test where arobot estimates where the pointing vector intersects the ground plane, andreport the accuracy obtained. We provide source code as a ROS node, with theintention of contributing a commodity implementation of this common componentin HRI systems.

Commodifying Pointing in HRI: Simple and Fast Pointing Gesture Detection from RGB-D Images