Data to 7 Oct 2026

Learning to Estimate 3D Hand Pose from Single RGB Images

arXiv 1705.01389 ↗First posted 3 May 2017cs.CVcited by 234

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Abstract (arXiv)

Low-cost consumer depth cameras and deep learning have enabled reasonable 3D hand pose estimation from single depth images. In this paper, we present an approach that estimates 3D hand pose from regular RGB images. This task has far more ambiguities due to the missing depth information. To this end, we propose a deep network that learns a network-implicit 3D articulation prior. Together with detected keypoints in the images, this network yields good estimates of the 3D pose. We introduce a large scale 3D hand pose dataset based on synthetic hand models for training the involved networks. Experiments on a variety of test sets, including one on sign language recognition, demonstrate the feasibility of 3D hand pose estimation on single color images.

Key facts. Cited by 234 papers in the map (data through 7 Oct 2026). First posted on arXiv 3 May 2017.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 49; 2022: 47; 2023: 52; 2024: 36; 2025: 29; 2026: 21.

234 papers.

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2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
2023Reconstructing Hands in 3D with Transformerscited by 298
2021H2O: Two Hands Manipulating Objects for First Person Interaction Recognitioncited by 251
2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 194
2021FrankMocap: A Monocular 3D Whole-Body Pose Estimation System via Regression and Integrationcited by 168
2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 140
2021Collaborative Regression of Expressive Bodies using Moderationcited by 137
2021Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimationcited by 122
2024WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wildcited by 117
2024Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulationcited by 116
2022Recovering 3D Human Mesh from Monocular Images: A Surveycited by 103

38 more

2022What's in your hands? 3D Reconstruction of Generic Objects in Handscited by 90
2022Interacting Attention Graph for Single Image Two-Hand Reconstructioncited by 87
2022Fine-Grained Egocentric Hand-Object Segmentation: Dataset, Model, and Applicationscited by 78
2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
2023HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Videocited by 76
2021MobRecon: Mobile-Friendly Hand Mesh Reconstruction from Monocular Imagecited by 74
2021Real-time Pose and Shape Reconstruction of Two Interacting Hands With a Single Depth Cameracited by 70
2021Model-based 3D Hand Reconstruction via Self-Supervised Learningcited by 65
2023AssemblyHands: Towards Egocentric Activity Understanding via 3D Hand Pose Estimationcited by 64
2021Camera-Space Hand Mesh Recovery via Semantic Aggregation and Adaptive 2D-1D Registrationcited by 59
2021SignBERT: Pre-Training of Hand-Model-Aware Representation for Sign Language Recognitioncited by 59
2022AlignSDF: Pose-Aligned Signed Distance Fields for Hand-Object Reconstructioncited by 58
2021Towards unconstrained joint hand-object reconstruction from RGB videoscited by 57
2022Collaborative Learning for Hand and Object Reconstruction with Attention-guided Graph Convolutioncited by 54
2024ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactionscited by 54
2021I2UV-HandNet: Image-to-UV Prediction Network for Accurate and High-fidelity 3D Hand Mesh Modelingcited by 52
2023Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Planscited by 51
2021A Skeleton-Driven Neural Occupancy Representation for Articulated Handscited by 50
2021Watch It Move: Unsupervised Discovery of 3D Joints for Re-Posing of Articulated Objectscited by 50
2023Zero-Shot Robot Manipulation from Passive Human Videoscited by 49
2023gSDF: Geometry-Driven Signed Distance Functions for 3D Hand-Object Reconstructioncited by 49
2022UmeTrack: Unified multi-view end-to-end hand tracking for VRcited by 48
2022A survey of multimodal deep generative modelscited by 47
2024Hamba: Single-view 3D Hand Reconstruction with Graph-guided Bi-Scanning Mambacited by 45
2021Towards Accurate Alignment in Real-time 3D Hand-Mesh Reconstructioncited by 44
2023HandRefiner: Refining Malformed Hands in Generated Images by Diffusion-based Conditional Inpaintingcited by 42
2021Learning to Disambiguate Strongly Interacting Hands via Probabilistic Per-pixel Part Segmentationcited by 40
2023ACR: Attention Collaboration-based Regressor for Arbitrary Two-Hand Reconstructioncited by 37
2022Pose for Everything: Towards Category-Agnostic Pose Estimationcited by 36
20223D Interacting Hand Pose Estimation by Hand De-occlusion and Removalcited by 36
2022Hierarchical Temporal Transformer for 3D Hand Pose Estimation and Action Recognition from Egocentric RGB Videoscited by 35
2022Reconstructing Hand-Held Objects from Monocular Videocited by 35
2023A Dataset of Relighted 3D Interacting Handscited by 35
2024Benchmarks and Challenges in Pose Estimation for Egocentric Hand Interactions with Objectscited by 35
2021Regressive Domain Adaptation for Unsupervised Keypoint Detectioncited by 34
20233D Hand Pose Estimation in Everyday Egocentric Imagescited by 33
2021Lightweight Multi-person Total Motion Capture Using Sparse Multi-view Camerascited by 32
2022Learning to Imitate Object Interactions from Internet Videoscited by 32

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