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We present a formal analysis of iconic coverbal gesture. Our model describes the incomplete meaning of gesture that’s derivable from its form, and the pragmatic reasoning that yields a more specific interpretation. Our formalism builds on established models of discourse interpretation to capture key insights from the descriptive literature on gesture: synchronous speech and gesture express a single thought, but while the form of iconic gesture is an important clue to its interpretation, the content of gesture can be resolved only by linking it to its context.