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Recognizing the Waving Gesture in the Interaction with a Social Robot

Humans use a wide range of non-verbal social signals while communicating with each other. Gestures are part of these signals and social robots should be able to recognize them for responding appropriately during a dialogue and being more socially believable. Gesture recognition is a hot topic in Computer Vision since a long time. This is particularly due to the fact that the segmentation of foreground objects from a cluttered background is a challenging problem, especially if it has to be performed in real-time. In this paper, we propose a vision-based framework for making social robots capable of recognizing and responding in real-time to a specific greeting gesture, namely the hand waving. The framework is based on a Convolutional Neural Network model trained to recognize hand gestures. Preliminary experiments in a lab setup with the social robot Pepper indicate that the robot correctly recognizes the wave gesture 90% of the times and answers appropriately in real-time by waving itself, thus increasing its social believability.