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An interactive desktop system for robot control is presented in this paper. The system consists of a digital desk, a markerless gesture interface and a line-follower. The digital desk is a network system composed of a camera, a computer and a projector. Hand motion is captured by the camera, and available gestures are recognized by the computer. The projector draws lines on the field where the line-follower moves. Lines are drawn or eliminated in accordance with user's gestures under an operation rule. The user can control the line-follower by gestures.