Gesture Recognition for Humanoids using Proto-symbol Space

In this paper, we propose the system of gesture recognition for humanoids using proto-symbol space proposed by Inamura et al., by which we can tell similarity between gestures. Our goal is to develop the robust and real-time gesture recognition on real-world by humanoids. We succeeded to get 3D trajectory of human´s hands using face detection and depth data obtained from stereo cameras. Our system does not need any special devices and skin color information. We can tell gestures changing with time, and also distinguish unknown gestures as unknown. By using proto-symbol space, we can generate humanoid´s motion from human´s gesture. Proposed system leads to imitation and teaching on humanoids.