Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to people. This survey and systematic review presents a comprehensive analysis on robotic vision in human-robot interaction and collaboration over the last 10 years. From a detailed search of 3850 articles, systematic extraction and evaluation was used to identify and explore 310 papers in depth. These papers described robots with some level of autonomy using robotic vision for locomotion, manipulation and/or visual communication to collaborate or interact with people. This paper provides an in-depth analysis of current trends, common domains, methods and procedures, technical processes, data sets and models, experimental testing, sample populations, performance metrics and future challenges. This manuscript found that robotic vision was often used in action and gesture recognition, robot movement in human spaces, object handover and collaborative actions, social communication and learning from demonstration. Few high-impact and novel techniques from the computer vision field had been translated into human-robot interaction and collaboration. Overall, notable advancements have been made on how to develop and deploy robots to assist people.

翻译：机器人视觉在人机交互与协作中是机器人收集和解读与人类动作、目标及偏好相关的详细信息的关键过程，从而使机器人能够为人们提供更有效的服务。本综述与系统回顾对过去十年间人机交互与协作中的机器人视觉进行了全面分析。从3850篇文章的详细检索中，通过系统性提取和评估，深入识别并探讨了310篇论文。这些论文描述了具有一定自主性的机器人利用机器人视觉进行运动、操作和/或视觉通信，以与人类协作或交互。本文深入分析了当前趋势、常见领域、方法与流程、技术过程、数据集与模型、实验测试、样本群体、性能指标及未来挑战。研究发现，机器人视觉常用于动作与手势识别、机器人在人类空间中的移动、物体交接与协作动作、社会沟通以及示范学习。计算机视觉领域中少数高影响力且新颖的技术已被转化应用于人机交互与协作。总体而言，在开发和部署机器人以辅助人类方面取得了显著进展。