Nowadays new interaction forms are not limited by Graphical User Interfaces (GUIs) making Human Computer Interaction (HCI) more natural. The development of humanoid robots for natural interaction is a challenging research topic. By using gesture based humanoid we can operate any system simply by gestures. The inter-human communication is very complex and offers a variety of interaction possibilities. Although speech is often seen as the primary channel of information, psychologists claim that 60% of the information is transferred non-verbally. Besides body pose, mimics and others gestures like pointing or hand waving are commonly used. In this paper the gesture detection...