A Multilayer Hidden Markov Models-Based Method for Human-Robot Interaction

Table 1

Comparisons of average recognition accuracy and average recognition time between HMMs and MHMMs.

Gesture; tyep	HMMs accuracy (%)	MHMMs accuracy (%)	HMMs recognition time (s)	MHMMs recognition time (s)
1	86.83%	95.71%	0.564	0.637
2	91.24%	97.28%	0.629	0.784
3	78.43%	90.63%	0.468	0.615
4	85.92%	93.42%	0.693	0.812
5	73.97%	89.85%	0.503	0.759