Video: Pointing Gestures for Proximity Interaction

We propose a system to control robots in the users proximity with pointing gestures-a natural device that people use all the time to communicate with each other. Our system has two requirements: first, the robot must be able to reconstruct its own motion, e.g. by means of visual odometry; second, the user must wear a wristband or smartwatch with an inertial measurement unit. Crucially, the robot does not need to perceive the user in any way. The resulting system is widely applicable, robust, and intuitive to use.