# Hand Keypoint Detection in Single Images using Multiview Bootstrapping

arXiv: https://arxiv.org/abs/1704.07809 · HTML: https://mlsanity.com/paper/1704.07809/

## Key facts

- Cited by 231 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Apr 2017.

## Built on by (most cited first, 30 of 231)

- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectives](https://mlsanity.com/paper/2311.18259/) (2023)
- [HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction](https://mlsanity.com/paper/2203.01577/) (2022)
- [DexYCB: A Benchmark for Capturing Hand Grasping of Objects](https://mlsanity.com/paper/2104.04631/) (2021)
- [ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation](https://mlsanity.com/paper/2204.13662/) (2022)
- [Reconstructing Hands in 3D with Transformers](https://mlsanity.com/paper/2312.05251/) (2023)
- [H2O: Two Hands Manipulating Objects for First Person Interaction Recognition](https://mlsanity.com/paper/2104.11181/) (2021)
- [InterGen: Diffusion-based Multi-human Motion Generation under Complex Interactions](https://mlsanity.com/paper/2304.05684/) (2023)
- [Fake It Till You Make It: Face analysis in the wild using synthetic data alone](https://mlsanity.com/paper/2109.15102/) (2021)
- [Embodied Hands: Modeling and Capturing Hands and Bodies Together](https://mlsanity.com/paper/2201.02610/) (2022)
- [FrankMocap: A Monocular 3D Whole-Body Pose Estimation System via Regression and Integration](https://mlsanity.com/paper/2108.06428/) (2021)
- [OOTDiffusion: Outfitting Fusion based Latent Diffusion for Controllable Virtual Try-on](https://mlsanity.com/paper/2403.01779/) (2024)
- [Collaborative Regression of Expressive Bodies using Moderation](https://mlsanity.com/paper/2105.05301/) (2021)
- [OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interaction](https://mlsanity.com/paper/2203.15709/) (2022)
- [WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wild](https://mlsanity.com/paper/2409.12259/) (2024)
- [MagicPose: Realistic Human Poses and Facial Expressions Retargeting with Identity-aware Diffusion](https://mlsanity.com/paper/2311.12052/) (2023)
- [Recovering 3D Human Mesh from Monocular Images: A Survey](https://mlsanity.com/paper/2203.01923/) (2022)
- [EMDB: The Electromagnetic Database of Global 3D Human Pose and Shape in the Wild](https://mlsanity.com/paper/2308.16894/) (2023)
- [Interacting Attention Graph for Single Image Two-Hand Reconstruction](https://mlsanity.com/paper/2203.09364/) (2022)
- [HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Video](https://mlsanity.com/paper/2311.18448/) (2023)
- [Towards Unified Text-based Person Retrieval: A Large-scale Multi-Attribute and Language Search Benchmark](https://mlsanity.com/paper/2306.02898/) (2023)
- [Neural Monocular 3D Human Motion Capture with Physical Awareness](https://mlsanity.com/paper/2105.01057/) (2021)
- [Real-time Pose and Shape Reconstruction of Two Interacting Hands With a Single Depth Camera](https://mlsanity.com/paper/2106.08059/) (2021)
- [LooseControl: Lifting ControlNet for Generalized Depth Conditioning](https://mlsanity.com/paper/2312.03079/) (2023)
- [X-Avatar: Expressive Human Avatars](https://mlsanity.com/paper/2303.04805/) (2023)
- [AssemblyHands: Towards Egocentric Activity Understanding via 3D Hand Pose Estimation](https://mlsanity.com/paper/2304.12301/) (2023)
- [HumanVid: Demystifying Training Data for Camera-controllable Human Image Animation](https://mlsanity.com/paper/2407.17438/) (2024)
- [Towards unconstrained joint hand-object reconstruction from RGB videos](https://mlsanity.com/paper/2108.07044/) (2021)
- [ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactions](https://mlsanity.com/paper/2401.10232/) (2024)
- [Collaborative Learning for Hand and Object Reconstruction with Attention-guided Graph Convolution](https://mlsanity.com/paper/2204.13062/) (2022)

## Abstract (arXiv)

We present an approach that uses a multi-camera system to train fine-grained detectors for keypoints that are prone to occlusion, such as the joints of a hand. We call this procedure multiview bootstrapping: first, an initial keypoint detector is used to produce noisy labels in multiple views of the hand. The noisy detections are then triangulated in 3D using multiview geometry or marked as outliers. Finally, the reprojected triangulations are used as new labeled training data to improve the detector. We repeat this process, generating more labeled data in each iteration. We derive a result analytically relating the minimum number of views to achieve target true and false positive rates for a given detector. The method is used to train a hand keypoint detector for single images. The resulting keypoint detector runs in realtime on RGB images and has accuracy comparable to methods that use depth sensors. The single view detector, triangulated over multiple views, enables 3D markerless hand motion capture with complex object interactions.