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; generating gesture information based on the recognized pose or gesture, the gesture information indicating a direction pointed by the user outward of the vehicle towards a point-of-interest outside the vehicle; determining one or more devices among a plurality of devices that are likely to be targeted by the user for an operation by analyzing the gesture information and without performing speech recognition on an audio signal including an utterance by the user; selecting a plurality of verbal commands associated with the one or more devices determined as likely being targeted; receiving the audio signal including the utterance by the user at a time when the at least one depth image is being captured; and determining a device command for operating the one or more devices likely being targeted by performing speech recognition on the audio signal using the selected plurality of verbal commands, the determined device command representing an action associated with the point-of-interest.