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An objective of natural Human-Robot Interaction (HRI) is to enable humans to communicate with robots in the same manner humans do between themselves. This includes the use of natural gestures to support and expand the information that is exchanged in the spoken language. To achieve that, robots need robust gesture recognition systems to detect the non-verbal information that is sent to them by the human gestures. Traditional gesture recognition systems highly depend on the light conditions anddoi:10.1145/1957656.1957745 dblp:conf/hri/RameyGS11 fatcat:b5a6r4232zewheyy7dlxusze7q