Deictic gestures – pointing at things in human-human collaborative tasks – constitute a pervasive, non-verbal way of communication, used e.g. to direct attention towards objects of interest. In a human-robot interactive scenario, in order to delegate tasks from a human to a robot, one of the key requirements is to recognize and estimate the pose of the pointing gesture.

Dataset Features

• Two types of pointing gestures: (1) Natural pointing with index finger, and (2) Tool pointing with white board marker.
• 9 participants pointing at 10 objects performing both the types of pointing gestures.
• Pointing gestures recorded with RGB-D with Kinect sensor.
• 180 RGB-D test images available with the ground truth to evaluate 3D pointing direction.
• Publicly available to Download.

Sample Images

• Natural pointing
• Tool pointing