In this paper, we present the Diver Interest via Pointing (DIP) algorithm, a highly modular method for conveying a diver's area of interest to an autonomous underwater vehicle (AUV) using pointing gestures for underwater human-robot collaborative tasks. DIP uses a single monocular camera and exploits human body pose, even with complete dive gear, to extract underwater human pointing gesture poses and their directions. By extracting 2D scene geometry based on the human body pose and density of salient feature points along the direction of pointing, using a low-level feature detector, the DIP algorithm is able to locate objects of interest as indicated by the diver.

翻译：在本文中,我们介绍了“通过指向的不同利益”算法(DIP),这是一种将潜水员感兴趣的区域传递给自主水下飞行器的高度模块化方法,使用指针手势进行水下人-机器人合作任务;DIP使用单一的单镜相机,利用人体姿势(即使配有完整的潜水设备)提取水下人的指针姿势及其方向;根据人体的姿势和指向的突出特征的密度提取2D场景几何方法,使用低位特征探测器,DIP算法能够定位潜水员指出的受关注对象。