mlsanityData to 14 Oct 2026

Real-Time Online Skeleton Extraction and Gesture Recognition on Pepper

arXiv 2206.11376 ↗First posted 22 Jun 2022cs.RO cs.CVcited by 0

Not on the map. Why?

Abstract (arXiv)

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.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 21 of its 41 references that are in the map. First posted on arXiv 22 Jun 2022.

Builds on

21 of 41 references.

References · 21

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
  2. 2014ImageNet Large Scale Visual Recognition Challengecited by 8,498
  3. 2017Mask R-CNNcited by 7,277
  4. 2017MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applicationscited by 3,845
  5. 2018Spatial Temporal Graph Convolutional Networks for Skeleton-Based Action Recognitioncited by 1,209
  6. 2016Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,064
  7. 2016Stacked Hourglass Networks for Human Pose Estimationcited by 915
  8. 2016NTU RGB+D: A Large Scale Dataset for 3D Human Activity Analysiscited by 686
  9. 2018DensePose: Dense Human Pose Estimation In The Wildcited by 575
  10. 2016Convolutional Pose Machinescited by 325
  11. 2013DeepPose: Human Pose Estimation via Deep Neural Networkscited by 305
  12. 2016Speed/accuracy trade-offs for modern convolutional object detectorscited by 198
9 more
  1. 2017Towards Accurate Multi-person Pose Estimation in the Wildcited by 131
  2. 2014Joint Training of a Convolutional Network and a Graphical Model for Human Pose Estimationcited by 129
  3. 2016DeeperCut: A Deeper, Stronger, and Faster Multi-Person Pose Estimation Modelcited by 96
  4. 2017Skeleton-Based Human Action Recognition with Global Context-Aware Attention LSTM Networkscited by 62
  5. 2016Online Human Action Detection using Joint Classification-Regression Recurrent Neural Networkscited by 28
  6. 2016ArtTrack: Articulated Multi-person Tracking in the Wildcited by 27
  7. 2018Learning to Prune Filters in Convolutional Neural Networkscited by 25
  8. 2016Space-Time Representation of People Based on 3D Skeletal Data: A Reviewcited by 24
  9. 2017Fast Gesture Recognition with Multiple Stream Discrete HMMs on 3D Skeletonscited by 2

Built on by

Not cited yet.