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Point Clouds and Range Images for Intent Recognition and Human-Robot Interaction

The wide availability of inexpensive RGB-D cameras such as Microsoft’s Kinect presents an opportunity to significantly improve the sensing capabilities required for human-robot interaction. In this paper we present an intent recognition system that demonstrates the potential of RGB-D cameras for systems that must interpret human activities. We also discuss systems we are currently developing and touch on techniques we are using to make such systems scalable to significantly larger data sets.