mlsanityData to 7 Oct 2026

FR-GESTURE: An RGBD Dataset For Gesture-based Human-Robot Interaction In First Responder Operations

arXiv 2602.17573 ↗First posted 19 Feb 2026cs.RO cs.CVcited by 1

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Abstract (arXiv)

The ever increasing intensity and number of disasters make even more difficult the work of First Responders (FRs). Artificial intelligence and robotics solutions could facilitate their operations, compensating these difficulties. To this end, we propose a dataset for gesture-based UGV control by FRs, introducing a set of 12 commands, drawing inspiration from existing gestures used by FRs and tactical hand signals and refined after incorporating feedback from experienced FRs. Then we proceed with the data collection itself, resulting in 3312 RGBD pairs captured from 2 viewpoints and 7 distances. To the best of our knowledge, this is the first dataset especially intended for gesture-based UGV guidance by FRs. Finally we define evaluation protocols for our RGBD dataset, termed FR-GESTURE, and we perform baseline experiments, which are put forward for improvement. We have made data publicly available to promote future research on the domain: https://doi.org/10.5281/zenodo.18131333.

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Builds on 33 of its 61 references that are in the map. First posted on arXiv 19 Feb 2026.

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33 of 61 references.

References · 33

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026Beyond Language: Grounding Referring Expressions with Hand Pointing in Egocentric Visioncited by 1