Gesture recognition is an important aspect of interpersonal social interaction. Developing a similar capacity in a robot will improve human-robot interaction. Various unsupervised clustering methods applied to clustering a set of dynamic human arm gestures are compared. Unsupervised cluster- ing is important in gesture recognition as it imposes no a priori bound on the set of gestures. Results are compared using v-measure, a metric that allows differential weighting between clustering homogeneity and completeness. Experi- ments show that the best clustering method depends on the desired balance between homogeneity and completeness.
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