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InterHand2.6M: A Dataset and Baseline for 3D Interacting Hand Pose Estimation from a Single RGB Image

arXiv 2008.09309 ↗First posted 21 Aug 2020cs.CVcited by 244

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Abstract (arXiv)

Analysis of hand-hand interactions is a crucial step towards better understanding human behavior. However, most researches in 3D hand pose estimation have focused on the isolated single hand case. Therefore, we firstly propose (1) a large-scale dataset, InterHand2.6M, and (2) a baseline network, InterNet, for 3D interacting hand pose estimation from a single RGB image. The proposed InterHand2.6M consists of 2.6M labeled single and interacting hand frames under various poses from multiple subjects. Our InterNet simultaneously performs 3D single and interacting hand pose estimation. In our experiments, we demonstrate big gains in 3D interacting hand pose estimation accuracy when leveraging the interacting hand data in InterHand2.6M. We also report the accuracy of InterNet on InterHand2.6M, which serves as a strong baseline for this new dataset. Finally, we show 3D interacting hand pose estimation results from general images. Our code and dataset are available at https://mks0601.github.io/InterHand2.6M/.

Key facts. Cited by 244 papers in the map (data through 7 Oct 2026). First posted on arXiv 21 Aug 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 20; 2022: 34; 2023: 60; 2024: 49; 2025: 38; 2026: 43.

244 papers.

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  1. 2023Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectivescited by 477
  2. 2021DexYCB: A Benchmark for Capturing Hand Grasping of Objectscited by 320
  3. 2023Effective Whole-body Pose Estimation with Two-stages Distillationcited by 307
  4. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  5. 2023Reconstructing Hands in 3D with Transformerscited by 298
  6. 2021H2O: Two Hands Manipulating Objects for First Person Interaction Recognitioncited by 251
  7. 2022AlphaPose: Whole-Body Regional Multi-Person Pose Estimation and Tracking in Real-Timecited by 199
  8. 2022PyMAF-X: Towards Well-aligned Full-body Model Regression from Monocular Imagescited by 152
  9. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  10. 2023One-Stage 3D Whole-Body Mesh Recovery with Component Aware Transformercited by 128
  11. 2021Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimationcited by 122
  12. 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 122
38 more
  1. 2024WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wildcited by 117
  2. 20243D Gaussian as a New Era: A Surveycited by 102
  3. 2024Multi-HMR: Multi-Person Whole-Body Human Mesh Recovery in a Single Shotcited by 98
  4. 2022HandOccNet: Occlusion-Robust 3D Hand Mesh Estimation Networkcited by 95
  5. 2022Interacting Attention Graph for Single Image Two-Hand Reconstructioncited by 87
  6. 2023AvatarReX: Real-time Expressive Full-body Avatarscited by 83
  7. 2023HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Videocited by 76
  8. 2021MobRecon: Mobile-Friendly Hand Mesh Reconstruction from Monocular Imagecited by 74
  9. 2022ViTPose++: Vision Transformer for Generic Body Pose Estimationcited by 65
  10. 2023AssemblyHands: Towards Egocentric Activity Understanding via 3D Hand Pose Estimationcited by 64
  11. 2022LISA: Learning Implicit Shape and Appearance of Handscited by 63
  12. 2026SAM 3D Body: Robust Full-Body Human Mesh Recoverycited by 61
  13. 2023SignBERT+: Hand-model-aware Self-supervised Pre-training for Sign Language Understandingcited by 59
  14. 2021Towards unconstrained joint hand-object reconstruction from RGB videoscited by 57
  15. 2024ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactionscited by 54
  16. 2023ContactGen: Generative Contact Modeling for Grasp Generationcited by 52
  17. 2021A Skeleton-Driven Neural Occupancy Representation for Articulated Handscited by 50
  18. 2024Dyn-HaMR: Recovering 4D Interacting Hand Motion from a Dynamic Cameracited by 50
  19. 2022UmeTrack: Unified multi-view end-to-end hand tracking for VRcited by 48
  20. 2023HybrIK-X: Hybrid Analytical-Neural Inverse Kinematics for Whole-body Mesh Recoverycited by 48
  21. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 46
  22. 2024Hamba: Single-view 3D Hand Reconstruction with Graph-guided Bi-Scanning Mambacited by 45
  23. 2021Learning to Disambiguate Strongly Interacting Hands via Probabilistic Per-pixel Part Segmentationcited by 40
  24. 2022Hand Avatar: Free-Pose Hand Animation and Rendering from Monocular Videocited by 37
  25. 2023ACR: Attention Collaboration-based Regressor for Arbitrary Two-Hand Reconstructioncited by 37
  26. 2022Pose for Everything: Towards Category-Agnostic Pose Estimationcited by 36
  27. 20223D Interacting Hand Pose Estimation by Hand De-occlusion and Removalcited by 36
  28. 2023Bringing Inputs to Shared Domains for 3D Interacting Hands Recovery in the Wildcited by 36
  29. 2022Hierarchical Temporal Transformer for 3D Hand Pose Estimation and Action Recognition from Egocentric RGB Videoscited by 35
  30. 2022Reconstructing Hand-Held Objects from Monocular Videocited by 35
  31. 2023A Dataset of Relighted 3D Interacting Handscited by 35
  32. 2024Benchmarks and Challenges in Pose Estimation for Egocentric Hand Interactions with Objectscited by 35
  33. 2023Learning Human-to-Robot Handovers from Point Cloudscited by 34
  34. 20233D Hand Pose Estimation in Everyday Egocentric Imagescited by 33
  35. 2021Lightweight Multi-person Total Motion Capture Using Sparse Multi-view Camerascited by 32
  36. 2024GigaHands: A Massive Annotated Dataset of Bimanual Hand Activitiescited by 32
  37. 2025SMPLest-X: Ultimate Scaling for Expressive Human Pose and Shape Estimationcited by 31
  38. 2025InterAct: Advancing Large-Scale Versatile 3D Human-Object Interaction Generationcited by 31

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