FR-GESTURE: An RGBD Dataset For Gesture-based Human-Robot Interaction In First Responder Operations
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866908841282633728 |
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| author | Foteinos, Konstantinos Angelidis, Georgios Psiris, Aggelos Argyriou, Vasileios Sarigiannidis, Panagiotis Papadopoulos, Georgios Th. |
| author_facet | Foteinos, Konstantinos Angelidis, Georgios Psiris, Aggelos Argyriou, Vasileios Sarigiannidis, Panagiotis Papadopoulos, Georgios Th. |
| contents | The ever increasing intensity and number of disasters make even more difficult the work of First Responders (FRs). Artificial intelligence and robotics solutions could facilitate their operations, compensating these difficulties. To this end, we propose a dataset for gesture-based UGV control by FRs, introducing a set of 12 commands, drawing inspiration from existing gestures used by FRs and tactical hand signals and refined after incorporating feedback from experienced FRs. Then we proceed with the data collection itself, resulting in 3312 RGBD pairs captured from 2 viewpoints and 7 distances. To the best of our knowledge, this is the first dataset especially intended for gesture-based UGV guidance by FRs. Finally we define evaluation protocols for our RGBD dataset, termed FR-GESTURE, and we perform baseline experiments, which are put forward for improvement. We have made data publicly available to promote future research on the domain: https://doi.org/10.5281/zenodo.18131333. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_17573 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | FR-GESTURE: An RGBD Dataset For Gesture-based Human-Robot Interaction In First Responder Operations Foteinos, Konstantinos Angelidis, Georgios Psiris, Aggelos Argyriou, Vasileios Sarigiannidis, Panagiotis Papadopoulos, Georgios Th. Robotics Computer Vision and Pattern Recognition The ever increasing intensity and number of disasters make even more difficult the work of First Responders (FRs). Artificial intelligence and robotics solutions could facilitate their operations, compensating these difficulties. To this end, we propose a dataset for gesture-based UGV control by FRs, introducing a set of 12 commands, drawing inspiration from existing gestures used by FRs and tactical hand signals and refined after incorporating feedback from experienced FRs. Then we proceed with the data collection itself, resulting in 3312 RGBD pairs captured from 2 viewpoints and 7 distances. To the best of our knowledge, this is the first dataset especially intended for gesture-based UGV guidance by FRs. Finally we define evaluation protocols for our RGBD dataset, termed FR-GESTURE, and we perform baseline experiments, which are put forward for improvement. We have made data publicly available to promote future research on the domain: https://doi.org/10.5281/zenodo.18131333. |
| title | FR-GESTURE: An RGBD Dataset For Gesture-based Human-Robot Interaction In First Responder Operations |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2602.17573 |