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FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Images

arXiv 1909.04349 ↗First posted 10 Sep 2019cs.CV cs.LG cs.ROcited by 271

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Abstract (arXiv)

Estimating 3D hand pose from single RGB images is a highly ambiguous problem that relies on an unbiased training dataset. In this paper, we analyze cross-dataset generalization when training on existing datasets. We find that approaches perform well on the datasets they are trained on, but do not generalize to other datasets or in-the-wild scenarios. As a consequence, we introduce the first large-scale, multi-view hand dataset that is accompanied by both 3D hand pose and shape annotations. For annotating this real-world dataset, we propose an iterative, semi-automated `human-in-the-loop' approach, which includes hand fitting optimization to infer both the 3D pose and shape for each sample. We show that methods trained on our dataset consistently perform well when tested on other datasets. Moreover, the dataset allows us to train a network that predicts the full articulated hand shape from a single RGB image. The evaluation set can serve as a benchmark for articulated hand shape estimation.

Key facts. Cited by 271 papers in the map (data through 7 Oct 2026). First posted on arXiv 10 Sep 2019.

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Citing papers per year: 2021: 43; 2022: 48; 2023: 66; 2024: 44; 2025: 35; 2026: 35.

271 papers.

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  1. 2021Transformers in Vision: A Surveycited by 1,009
  2. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 321
  3. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  4. 2023Effective Whole-body Pose Estimation with Two-stages Distillationcited by 307
  5. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  6. 2023Reconstructing Hands in 3D with Transformerscited by 298
  7. 2023TAPIR: Tracking Any Point with per-frame Initialization and temporal Refinementcited by 281
  8. 2021Mesh Graphormercited by 264
  9. 2021H2O: Two Hands Manipulating Objects for First Person Interaction Recognitioncited by 251
  10. 2022AlphaPose: Whole-Body Regional Multi-Person Pose Estimation and Tracking in Real-Timecited by 199
  11. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videoscited by 194
  12. 2021FrankMocap: A Monocular 3D Whole-Body Pose Estimation System via Regression and Integrationcited by 168
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  1. 2023FastViT: A Fast Hybrid Vision Transformer using Structural Reparameterizationcited by 161
  2. 2022PyMAF-X: Towards Well-aligned Full-body Model Regression from Monocular Imagescited by 152
  3. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  4. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 140
  5. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 137
  6. 2021Collaborative Regression of Expressive Bodies using Moderationcited by 137
  7. 2023One-Stage 3D Whole-Body Mesh Recovery with Component Aware Transformercited by 128
  8. 2021Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimationcited by 122
  9. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 122
  10. 2024WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wildcited by 117
  11. 2023TeCH: Text-guided Reconstruction of Lifelike Clothed Humanscited by 104
  12. 2021Neural Parts: Learning Expressive 3D Shape Abstractions with Invertible Neural Networkscited by 101
  13. 2022VideoDex: Learning Dexterity from Internet Videoscited by 101
  14. 2022Interacting Attention Graph for Single Image Two-Hand Reconstructioncited by 87
  15. 2022Cross-Attention of Disentangled Modalities for 3D Human Mesh Recovery with Transformerscited by 81
  16. 2022Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtubecited by 79
  17. 2024OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completioncited by 78
  18. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  19. 2021MobRecon: Mobile-Friendly Hand Mesh Reconstruction from Monocular Imagecited by 74
  20. 2022TOCH: Spatio-Temporal Object-to-Hand Correspondence for Motion Refinementcited by 69
  21. 2021Model-based 3D Hand Reconstruction via Self-Supervised Learningcited by 65
  22. 2023AssemblyHands: Towards Egocentric Activity Understanding via 3D Hand Pose Estimationcited by 64
  23. 2022LISA: Learning Implicit Shape and Appearance of Handscited by 63
  24. 2026SAM 3D Body: Robust Full-Body Human Mesh Recoverycited by 61
  25. 2021Camera-Space Hand Mesh Recovery via Semantic Aggregation and Adaptive 2D-1D Registrationcited by 59
  26. 2022MogaNet: Multi-order Gated Aggregation Networkcited by 59
  27. 2022AlignSDF: Pose-Aligned Signed Distance Fields for Hand-Object Reconstructioncited by 58
  28. 2021Towards unconstrained joint hand-object reconstruction from RGB videoscited by 57
  29. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 56
  30. 2022Collaborative Learning for Hand and Object Reconstruction with Attention-guided Graph Convolutioncited by 54
  31. 2024ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactionscited by 54
  32. 2021I2UV-HandNet: Image-to-UV Prediction Network for Accurate and High-fidelity 3D Hand Mesh Modelingcited by 52
  33. 2023ContactGen: Generative Contact Modeling for Grasp Generationcited by 52
  34. 2022UmeTrack: Unified multi-view end-to-end hand tracking for VRcited by 48
  35. 2023HybrIK-X: Hybrid Analytical-Neural Inverse Kinematics for Whole-body Mesh Recoverycited by 48
  36. 2023Global-to-Local Modeling for Video-based 3D Human Pose and Shape Estimationcited by 46
  37. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 46
  38. 2024Hamba: Single-view 3D Hand Reconstruction with Graph-guided Bi-Scanning Mambacited by 45

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