2Kortenkamp D, Huber E, Bonasso R P. Recognizing and interpreting gestures on a mobile robot[ A]. In: Proceedings of the 13th National Conference on Artificial Intelligence[ C], Portland, USA, 1996:915- 921.
3Waldherr S, Romero R, Thrun S. A gesture based interface for human-robot interaction [ J ]. Autonomous Robots, 2000, 9 (2) : 151- 173.
4Stiefelhagen R, Fugen C, Gieselmann P, et al. Natural human-robot interaction using speech, head pose and gestures[ A ]. In : Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems[ C] , Sendai, Japan, 2004:2422-2427.
5Richarz J, Martin C, Scheidig A, et al. Estimating pointing gestures in monocular images for mobile robot instruction[ A]. In: Proceedings of IEEE International Symposium on Robot and Human Interactive Communication[ C ], Hatfield, UK, 2006:546-550.
6Boehme H J, Branmann U D, Corradini A, et al. Person localization and posture recognition for human-robot interaction [ A ]. In : Proceedings of the International Gesture Workshop on Gesture-Based Communication in Human-Computer Interaction [ C ], London, Springer-Verlag,1999: 117-128.
7Kuno Y, Murashima T, Shimadat N, et al. Understanding and learning of gestures through human-robot interaction [ A ]. In : Proceedings of IEEE/ RSJ International Conference on Intelligent Robots and Systems[ C ] , Takamatsu, Japan, 2000:2133-2138.
8Platt J C, Cristianini N. Large margin DAGs for muhiclass classification [ J ]. Advances in Neural Information Processing Systems, 2000, 12(3): 547-553.
9Hsu C W, Lin C J. A comparison of methods for multi-class Support Vector Machines[ J ]. IEEE Transactions on Neural Networks, 2002, 13(2) :415-425.
10Hsu R L, Mottaleb M A, Jain A K. Face detection in color images [ J ] . IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002, 24(5 ) :696-706.
