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Along History, the gestures have been one of the most natural interaction methods of the Human Being. This work proposes a novel 3D interaction technique based on computer vision for human-computer gesture interaction. The main contribution to the interaction field is that this technique implements and improves on-the-edge computer vision algorithms offering a low cost solution providing robustness against scenario and user diversity. Thanks to these characteristics, this system allows the human-computer ubiquitous interaction in a robust way.