1. A computer-implemented method of recognizing verbal commands, comprising: capturing at least one depth image by a depth camera positioned in a vehicle, each of the depth image covering at least part of a user and comprising pixels representing distances from the depth camera to the at least part of the user; recognizing a pose or gesture of the user based on the captured depth image; and generating the gesture information based on the recognized pose or gesture. determining one or more devices among a plurality of devices that are likely to be targeted by the user for an operation based on the gesture information; selecting a plurality of verbal commands associated with the one or more devices determined as being targeted; receiving an audio signal including utterance by the user at a time when the user is taking the pose or the gesture; and determining a device command for operating the one or more devices by performing speech recognition on the audio signal using the selected plurality of verbal commands.