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MediaPipe Hands: On-device Real-time Hand Tracking

arXiv 2006.10214 ↗First posted 18 Jun 2020cs.CVcited by 157

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Abstract (arXiv)

We present a real-time on-device hand tracking pipeline that predicts hand skeleton from single RGB camera for AR/VR applications. The pipeline consists of two models: 1) a palm detector, 2) a hand landmark model. It's implemented via MediaPipe, a framework for building cross-platform ML solutions. The proposed model and pipeline architecture demonstrates real-time inference speed on mobile GPUs and high prediction quality. MediaPipe Hands is open sourced at https://mediapipe.dev.

Key facts. Cited by 157 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Jun 2020.

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Citing papers per year: 2021: 8; 2022: 16; 2023: 35; 2024: 37; 2025: 23; 2026: 38.

157 papers.

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  1. 2023Effective Whole-body Pose Estimation with Two-stages Distillationcited by 307
  2. 2023Motion-X: A Large-scale 3D Expressive Whole-body Human Motion Datasetcited by 220
  3. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 136
  4. 2023One-Stage 3D Whole-Body Mesh Recovery with Component Aware Transformercited by 128
  5. 2021PyTorch Geometric Temporal: Spatiotemporal Signal Processing with Neural Machine Learning Modelscited by 118
  6. 2024WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wildcited by 117
  7. 2023An Outlook into the Future of Egocentric Visioncited by 84
  8. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 82
  9. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperationcited by 79
  10. 2023HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Videocited by 76
  11. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulationcited by 75
  12. 2022Holo-Dex: Teaching Dexterity with Immersive Mixed Realitycited by 52
38 more
  1. 2024CAP4D: Creating Animatable 4D Portrait Avatars with Morphable Multi-View Diffusion Modelscited by 52
  2. 2023HandRefiner: Refining Malformed Hands in Generated Images by Diffusion-based Conditional Inpaintingcited by 42
  3. 2024HanDiffuser: Text-to-Image Generation With Realistic Hand Appearancescited by 42
  4. 2024ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperationcited by 32
  5. 2024HO-Cap: A Capture System and Dataset for 3D Reconstruction and Pose Tracking of Hand-Object Interactioncited by 25
  6. 2024Self-Guidance: Boosting Flow and Diffusion Generation on Their Owncited by 22
  7. 2023EvHandPose: Event-based 3D Hand Pose Estimation with Sparse Supervisioncited by 17
  8. 2024Complementing Event Streams and RGB Frames for Hand Mesh Reconstructioncited by 14
  9. 2022BlazePose GHUM Holistic: Real-time 3D Human Landmarks and Pose Estimationcited by 13
  10. 2024Authentic Hand Avatar from a Phone Scan via Universal Hand Modelcited by 13
  11. 2024In My Perspective, In My Hands: Accurate Egocentric 2D Hand Pose and Action Recognitioncited by 12
  12. 2024Hand1000: Generating Realistic Hands from Text with Only 1,000 Imagescited by 11
  13. 2024AttentionHand: Text-driven Controllable Hand Image Generation for 3D Hand Reconstruction in the Wildcited by 10
  14. 2024RealisHuman: A Two-Stage Approach for Refining Malformed Human Parts in Generated Imagescited by 10
  15. 2022Thermodynamics-informed neural networks for physically realistic mixed realitycited by 9
  16. 2024Blur2Blur: Blur Conversion for Unsupervised Image Deblurring on Unknown Domainscited by 9
  17. 2024HOIST-Former: Hand-held Objects Identification, Segmentation, and Tracking in the Wildcited by 9
  18. 2024RHanDS: Refining Malformed Hands for Generated Images with Decoupled Structure and Style Guidancecited by 9
  19. 2022First Contact: Unsupervised Human-Machine Co-Adaptation via Mutual Information Maximizationcited by 8
  20. 2023AQ-GT: a Temporally Aligned and Quantized GRU-Transformer for Co-Speech Gesture Synthesiscited by 8
  21. 2022Learning Fabric Manipulation in the Real World with Human Videoscited by 7
  22. 2022Simultaneous Estimation of Hand Configurations and Finger Joint Angles using Forearm Ultrasoundcited by 7
  23. 2024ASL STEM Wiki: Dataset and Benchmark for Interpreting STEM Articlescited by 7
  24. 2021On-device Real-time Hand Gesture Recognitioncited by 6
  25. 2023HyperCUT: Video Sequence from a Single Blurry Image using Unsupervised Orderingcited by 6
  26. 2024Multi-view Hand Reconstruction with a Point-Embedded Transformercited by 6
  27. 2021RealisticHands: A Hybrid Model for 3D Hand Reconstructioncited by 5
  28. 2022LWA-HAND: Lightweight Attention Hand for Interacting Hand Reconstructioncited by 5
  29. 2023Full-Body Cardiovascular Sensing with Remote Photoplethysmographycited by 5
  30. 2023Learnt Contrastive Concept Embeddings for Sign Recognitioncited by 5
  31. 2024American Sign Language Handshapes Reflect Pressures for Communicative Efficiencycited by 5
  32. 2025EgoTouch: On-Body Touch Input Using AR/VR Headset Camerascited by 5
  33. 2025PianoVAM: A Multimodal Piano Performance Datasetcited by 5
  34. 2023Hand tracking for clinical applications: validation of the Google MediaPipe Hand (GMH) and the depth-enhanced GMH-D frameworkscited by 4
  35. 2023GestureGPT: Toward Zero-Shot Free-Form Hand Gesture Understanding with Large Language Model Agentscited by 4
  36. 2024MSPM: A Multi-Site Physiological Monitoring Dataset for Remote Pulse, Respiration, and Blood Pressure Estimationcited by 4
  37. 2025Clothes-Changing Person Re-identification Based On Skeleton Dynamicscited by 4
  38. 2023HaDR: Applying Domain Randomization for Generating Synthetic Multimodal Dataset for Hand Instance Segmentation in Cluttered Industrial Environmentscited by 3

50 most cited of 157 All 157 (JSON)