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HOPE-Net: A Graph-based Model for Hand-Object Pose Estimation

arXiv 2004.00060 ↗First posted 31 Mar 2020cs.CVcited by 112

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Abstract (arXiv)

Hand-object pose estimation (HOPE) aims to jointly detect the poses of both a hand and of a held object. In this paper, we propose a lightweight model called HOPE-Net which jointly estimates hand and object pose in 2D and 3D in real-time. Our network uses a cascade of two adaptive graph convolutional neural networks, one to estimate 2D coordinates of the hand joints and object corners, followed by another to convert 2D coordinates to 3D. Our experiments show that through end-to-end training of the full network, we achieve better accuracy for both the 2D and 3D coordinate estimation problems. The proposed 2D to 3D graph convolution-based model could be applied to other 3D landmark detection problems, where it is possible to first predict the 2D keypoints and then transform them to 3D.

Key facts. Cited by 112 papers in the map (data through 7 Oct 2026). First posted on arXiv 31 Mar 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 24; 2022: 25; 2023: 21; 2024: 22; 2025: 8; 2026: 12.

112 papers.

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  1. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  2. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  3. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  4. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 140
  5. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 137
  6. 2022OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interactioncited by 129
  7. 2021D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactionscited by 109
  8. 2024OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completioncited by 78
  9. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  10. 2021Camera-Space Hand Mesh Recovery via Semantic Aggregation and Adaptive 2D-1D Registrationcited by 59
  11. 2022AlignSDF: Pose-Aligned Signed Distance Fields for Hand-Object Reconstructioncited by 58
  12. 2021Towards unconstrained joint hand-object reconstruction from RGB videoscited by 57
38 more
  1. 2022Collaborative Learning for Hand and Object Reconstruction with Attention-guided Graph Convolutioncited by 54
  2. 2023CAMS: CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesiscited by 54
  3. 2024ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactionscited by 54
  4. 2023ContactGen: Generative Contact Modeling for Grasp Generationcited by 52
  5. 2021A Skeleton-Driven Neural Occupancy Representation for Articulated Handscited by 50
  6. 2021WarpedGANSpace: Finding non-linear RBF paths in GAN latent spacecited by 48
  7. 2023AffordPose: A Large-scale Dataset of Hand-Object Interactions with Affordance-driven Hand Posecited by 47
  8. 2021Towards Accurate Alignment in Real-time 3D Hand-Mesh Reconstructioncited by 44
  9. 2021Learning to Disambiguate Strongly Interacting Hands via Probabilistic Per-pixel Part Segmentationcited by 40
  10. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  11. 2024HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Datacited by 37
  12. 2024Realistic and Efficient Face Swapping: A Unified Approach with Diffusion Modelscited by 35
  13. 2022DAD-3DHeads: A Large-scale Dense, Accurate and Diverse Dataset for 3D Head Alignment from a Single Imagecited by 31
  14. 2022HARP: Personalized Hand Reconstruction from a Monocular RGB Videocited by 28
  15. 2022Interaction Replica: Tracking Human-Object Interaction and Scene Changes From Human Motioncited by 27
  16. 2023Im2Hands: Learning Attentive Implicit Representation of Interacting Two-Hand Shapescited by 26
  17. 2022ZoomNAS: Searching for Whole-body Human Pose Estimation in the Wildcited by 23
  18. 2023HMP: Hand Motion Priors for Pose and Shape Estimation from Videocited by 23
  19. 2022Interacting Hand-Object Pose Estimation via Dense Mutual Attentioncited by 22
  20. 2025Modeling Fine-Grained Hand-Object Dynamics for Egocentric Video Representation Learningcited by 20
  21. 2022Hand-Object Interaction Image Generationcited by 19
  22. 2022Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wildcited by 17
  23. 2023Latent Traversals in Generative Models as Potential Flowscited by 17
  24. 2022THOR-Net: End-to-end Graformer-based Realistic Two Hands and Object Reconstruction with Self-supervisioncited by 16
  25. 2023ContactArt: Learning 3D Interaction Priors for Category-level Articulated Object and Hand Poses Estimationcited by 16
  26. 2025The Invisible EgoHand: 3D Hand Forecasting through EgoBody Pose Estimationcited by 16
  27. 2024Dense Hand-Object(HO) GraspNet with Full Grasping Taxonomy and Dynamicscited by 15
  28. 2021Learning Feature Aggregation for Deep 3D Morphable Modelscited by 13
  29. 2021Sequential Voting with Relational Box Fields for Active Object Detectioncited by 13
  30. 2022Learning Disentangled Representation for One-shot Progressive Face Swappingcited by 12
  31. 2021HandVoxNet++: 3D Hand Shape and Pose Estimation using Voxel-Based Neural Networkscited by 11
  32. 2021GraFormer: Graph Convolution Transformer for 3D Pose Estimationcited by 10
  33. 2023Dynamic Hyperbolic Attention Network for Fine Hand-object Reconstructioncited by 10
  34. 2023HandNeRF: Learning to Reconstruct Hand-Object Interaction Scene from a Single RGB Imagecited by 10
  35. 2025DreamID: High-Fidelity and Fast diffusion-based Face Swapping via Triplet ID Group Learningcited by 10
  36. 2023Spectral Graphormer: Spectral Graph-based Transformer for Egocentric Two-Hand Reconstruction using Multi-View Color Imagescited by 9
  37. 2024HandOS: 3D Hand Reconstruction in One Stagecited by 9
  38. 20213D Human Pose Regression using Graph Convolutional Networkcited by 8

50 most cited of 112 All 112 (JSON)