Face and gesture recognition using subspace method for human-robot interaction

This paper presents a vision-based face and gesture recognition system for human-robot interaction. By using subspace method, face and predefined hand poses are detected from the three largest skin-like regions that are segmented using YIQ color representation system. In this subspace method we consider separate eigenspaces for each class or pose. Gesture is recognized using the rule-based approach whenever the combination of three skin-like regions at a particular image frame matches with the predefined gesture. These gesture commands are sent to robot through TCP/IP network for human-robot interaction. Using subspace method pose invariant face recognition has also been addressed. The effectiveness of this method has been demonstrated by interacting with an entertainment robot named AIBO.