In December we have finished our demo: A human operator is able to tell a robot what object to take by simply pointing at it from some distance. The video of that demo is available under YouTube http://youtu.be/H6kX494AsaE. For this demo, we have included a completely automatic calibration procedure that calibrates the robot arm with the camera. The human pointing gesture is perceived by the camera, the pointing direction is recognized. The system then identifies the object that is in the pointing direction and directs the robot arm to that object in order to pinpoint the object the robot thinks the human pointed to. In this reporting period we have done an evaluation of how good the pointing recognition works. The evaluation was done with 8 different and un-trained individuals who pointed at the three different boxes from 2m, 3m and 4m distance. It can be expected that recognition rate degrades with distance.  Recognition rates were  

In this demo, we have used the hand and arm for pointing. This works well, if the distance between the robot and the human is large enough. In the next reporting period we are going to report experimental results in which we only use the hand for pointing. This is useful when the robot is very close to the human.