A method, apparatus and computer program product are provided for recognizing a gesture in which one or more relationships are determined between a plurality of body parts and the gesture is then determined based upon these relationships. Each relationship may be determined by determining an angle associated with at least one joint, determining one or more states of a body part based upon the angle associated with at least one joint, and determining a probability of a body part being in each respective state. The gesture may thereafter be determined based upon the one or more states and the probability associated with each state of the body part. Directions may be provided, such as to an unmanned vehicle, based upon the gesture to, for example, control its taxiing and parking operations.