This section describes the method for specifying the arm pointing direction from the basic information. This algorithm can be applied to both arms. USV obtains arm information vector A, which corresponds to the direction of the arm (DoA) and position of the arm (PoA), but does not indicate the intended direction of the arm pointing (IDoA) by the user. When a person points their arm at a target, the target is located on the line between their eye and the tip of their arm. Therefore, the algorithm corrects the direction in order to specify the target pointed at by the user.

This experiment was conducted to evaluate the accuracy of panel selections. All subjects pointed their left and right arms at the twenty panels at nine points in four lighting environments. The total number of pointing gestures is 10080 (9 points x 20 panels x 2 arms x 4 lighting x 7 subjects). The system recorded the number of the selected panel and the required times to decide. We also evaluated the panel selections in the sitting posture with the right arm in a fixed lighting environment. The total number of pointing gestures is 1260 (9 points x 20 panels x 1 arm x 1 lighting x 7 subjects).