# 3D Hand Pose Detection in Egocentric RGB-D Images

arXiv: https://arxiv.org/abs/1412.0065 · HTML: https://mlsanity.com/paper/1412.0065/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Nov 2014.

## Built on by (most cited first, 17 of 17)

- [Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Time](https://mlsanity.com/paper/2106.05266/) (2021)
- [What's in your hands? 3D Reconstruction of Generic Objects in Hands](https://mlsanity.com/paper/2204.07153/) (2022)
- [An Outlook into the Future of Egocentric Vision](https://mlsanity.com/paper/2308.07123/) (2023)
- [Real-time Pose and Shape Reconstruction of Two Interacting Hands With a Single Depth Camera](https://mlsanity.com/paper/2106.08059/) (2021)
- [3D Hand Pose Estimation in Everyday Egocentric Images](https://mlsanity.com/paper/2312.06583/) (2023)
- [DART: Articulated Hand Model with Diverse Accessories and Rich Textures](https://mlsanity.com/paper/2210.07650/) (2022)
- [RGB2Hands: Real-Time Tracking of 3D Hand Interactions from Monocular RGB Video](https://mlsanity.com/paper/2106.11725/) (2021)
- [Efficient Annotation and Learning for 3D Hand Pose Estimation: A Survey](https://mlsanity.com/paper/2206.02257/) (2022)
- [DDF-HO: Hand-Held Object Reconstruction via Conditional Directed Distance Field](https://mlsanity.com/paper/2308.08231/) (2023)
- [3D Reconstruction of Objects in Hands without Real World 3D Supervision](https://mlsanity.com/paper/2305.03036/) (2023)
- [MOHO: Learning Single-view Hand-held Object Reconstruction with Multi-view Occlusion-Aware Supervision](https://mlsanity.com/paper/2310.11696/) (2023)
- [Survey on Hand Gesture Recognition from Visual Input](https://mlsanity.com/paper/2501.11992/) (2025)
- [Egocentric Hand-object Interaction Detection and Application](https://mlsanity.com/paper/2109.14734/) (2021)
- [D-SCo: Dual-Stream Conditional Diffusion for Monocular Hand-Held Object Reconstruction](https://mlsanity.com/paper/2311.14189/) (2023)
- [EgoHandICL: Egocentric 3D Hand Reconstruction with In-Context Learning](https://mlsanity.com/paper/2601.19850/) (2026)
- [MC-hands-1M: A glove-wearing hand dataset for pose estimation](https://mlsanity.com/paper/2210.10428/) (2022)
- [Real-time SLAM Pipeline in Dynamics Environment](https://mlsanity.com/paper/2303.02272/) (2023)

## Abstract (arXiv)

We focus on the task of everyday hand pose estimation from egocentric viewpoints. For this task, we show that depth sensors are particularly informative for extracting near-field interactions of the camera wearer with his/her environment. Despite the recent advances in full-body pose estimation using Kinect-like sensors, reliable monocular hand pose estimation in RGB-D images is still an unsolved problem. The problem is considerably exacerbated when analyzing hands performing daily activities from a first-person viewpoint, due to severe occlusions arising from object manipulations and a limited field-of-view. Our system addresses these difficulties by exploiting strong priors over viewpoint and pose in a discriminative tracking-by-detection framework. Our priors are operationalized through a photorealistic synthetic model of egocentric scenes, which is used to generate training data for learning depth-based pose classifiers. We evaluate our approach on an annotated dataset of real egocentric object manipulation scenes and compare to both commercial and academic approaches. Our method provides state-of-the-art performance for both hand detection and pose estimation in egocentric RGB-D images.