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feat(jetson): Gesture recognition — hand/body pose detection for non-verbal robot interaction #140

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opened 2026-03-02 09:31:22 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 09:31:22 -05:00
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Summary

Visual gesture recognition for commanding robot without voice.

Requirements

  • Hand pose: MediaPipe Hands or custom TensorRT model for hand landmark detection
  • Gestures: wave (greeting), point (go there), stop (palm), thumbs up/down, come here (beckon), follow (walking gesture)
  • Body pose: MediaPipe Pose for full-body gestures (arms up = stop, crouch = come closer)
  • Multi-camera: Detect gestures from any of 4 CSI cameras
  • ROS2 topics: /social/gestures (Gesture msg with type + confidence + person_id)
  • Integration: Feed into person state tracker and pipeline orchestrator
  • Performance: 10+ FPS gesture detection on Orin GPU
  • Configurable: Enable/disable individual gestures, sensitivity thresholds

Agent: sl-jetson

Labels: social-bot, gestures

## Summary Visual gesture recognition for commanding robot without voice. ## Requirements - **Hand pose**: MediaPipe Hands or custom TensorRT model for hand landmark detection - **Gestures**: wave (greeting), point (go there), stop (palm), thumbs up/down, come here (beckon), follow (walking gesture) - **Body pose**: MediaPipe Pose for full-body gestures (arms up = stop, crouch = come closer) - **Multi-camera**: Detect gestures from any of 4 CSI cameras - **ROS2 topics**: /social/gestures (Gesture msg with type + confidence + person_id) - **Integration**: Feed into person state tracker and pipeline orchestrator - **Performance**: 10+ FPS gesture detection on Orin GPU - **Configurable**: Enable/disable individual gestures, sensitivity thresholds ## Agent: sl-jetson ## Labels: social-bot, gestures
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#140
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