Fig. 13

a This figure shows the outputs of OpenPOSE, YOLO, and the 2D pointing gesture interface approach. This sample is a false positive; the correct window is above the selected one. This error is due to a line crossing multiple windows is ambiguous. This example is the most significant cause of error given the lack of 3D information to make a more informed decision in this approach. b This figure shows the outputs of OpenPOSE, YOLO, ORB-SLAM, and the 3D pointing gesture interface approach. Here, the calculation considers the estimated depth from projective transformations and monocular SLAM’s point cloud, resulting in selecting the correct window. This sample is a true positive