mlsanityData to 7 Oct 2026

Generalized Feedback Loop for Joint Hand-Object Pose Estimation

arXiv 1903.10883 ↗First posted 25 Mar 2019cs.CVcited by 22

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Abstract (arXiv)

We propose an approach to estimating the 3D pose of a hand, possibly handling an object, given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by using a feedback loop. The components of this feedback loop are also Deep Networks, optimized using training data. This approach can be generalized to a hand interacting with an object. Therefore, we jointly estimate the 3D pose of the hand and the 3D pose of the object. Our approach performs en-par with state-of-the-art methods for 3D hand pose estimation, and outperforms state-of-the-art methods for joint hand-object pose estimation when using depth images only. Also, our approach is efficient as our implementation runs in real-time on a single GPU.

Key facts. Cited by 22 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 Mar 2019.

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Citing papers per year: 2021: 6; 2022: 6; 2023: 6; 2024: 3; 2025: 1.

22 papers.

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  1. 2021PyMAF: 3D Human Pose and Shape Regression with Pyramidal Mesh Alignment Feedback Loopcited by 250
  2. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  3. 2022PyMAF-X: Towards Well-aligned Full-body Model Regression from Monocular Imagescited by 152
  4. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 140
  5. 2024HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Datacited by 37
  6. 2021Single-view robot pose and joint angle estimation via render & comparecited by 33
  7. 2022Interaction Replica: Tracking Human-Object Interaction and Scene Changes From Human Motioncited by 27
  8. 2022Hand-Object Interaction Image Generationcited by 19
  9. 2022Focal Length and Object Pose Estimation via Render and Comparecited by 17
  10. 2022Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wildcited by 17
  11. 2023ContactArt: Learning 3D Interaction Priors for Category-level Articulated Object and Hand Poses Estimationcited by 16
  12. 2023SHOWMe: Benchmarking Object-agnostic Hand-Object 3D Reconstructioncited by 16
10 more
  1. 2022TriHorn-Net: A Model for Accurate Depth-Based 3D Hand Pose Estimationcited by 7
  2. 2024Weakly-Supervised 3D Hand Reconstruction with Knowledge Prior and Uncertainty Guidancecited by 5
  3. 2023FocalPose++: Focal Length and Object Pose Estimation via Render and Comparecited by 3
  4. 2025HOSt3R: Keypoint-free Hand-Object 3D Reconstruction from RGB imagescited by 3
  5. 2023Tracking Fast by Learning Slow: An Event-based Speed Adaptive Hand Tracker Leveraging Knowledge in RGB Domaincited by 2
  6. 2023ShapeGraFormer: GraFormer-Based Network for Hand-Object Reconstruction from a Single Depth Mapcited by 2
  7. 2024HUP-3D: A 3D multi-view synthetic dataset for assisted-egocentric hand-ultrasound pose estimationcited by 2
  8. 2021Semi-supervised 3D Hand-Object Pose Estimation via Pose Dictionary Learningcited by 1
  9. 2023Pushing the Envelope for Depth-Based Semi-Supervised 3D Hand Pose Estimation with Consistency Trainingcited by 1
  10. 2021Serial-parallel Multi-Scale Feature Fusion for Anatomy-Oriented Hand Joint Detectioncited by 0