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HO-3D_v3: Improving the Accuracy of Hand-Object Annotations of the HO-3D Dataset

arXiv 2107.00887 ↗First posted 2 Jul 2021cs.CV cs.HCcited by 25

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Abstract (arXiv)

HO-3D is a dataset providing image sequences of various hand-object interaction scenarios annotated with the 3D pose of the hand and the object and was originally introduced as HO-3D_v2. The annotations were obtained automatically using an optimization method, 'HOnnotate', introduced in the original paper. HO-3D_v3 provides more accurate annotations for both the hand and object poses thus resulting in better estimates of contact regions between the hand and the object. In this report, we elaborate on the improvements to the HOnnotate method and provide evaluations to compare the accuracy of HO-3D_v2 and HO-3D_v3. HO-3D_v3 results in 4mm higher accuracy compared to HO-3D_v2 for hand poses while exhibiting higher contact regions with the object surface.

Key facts. Cited by 25 papers in the map (data through 7 Oct 2026). Builds on 0 of its 3 references that are in the map. First posted on arXiv 2 Jul 2021.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 2; 2023: 6; 2024: 6; 2025: 5; 2026: 5.

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  1. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  2. 2024Hamba: Single-view 3D Hand Reconstruction with Graph-guided Bi-Scanning Mambacited by 45
  3. 2023A Probabilistic Attention Model with Occlusion-aware Texture Regression for 3D Hand Reconstruction from a Single RGB Imagecited by 32
  4. 2023HMP: Hand Motion Priors for Pose and Shape Estimation from Videocited by 23
  5. 2024ManiVideo: Generating Hand-Object Manipulation Video with Dexterous and Generalizable Graspingcited by 18
  6. 2023SHOWMe: Benchmarking Object-agnostic Hand-Object 3D Reconstructioncited by 16
  7. 2025HORT: Monocular Hand-held Objects Reconstruction with Transformerscited by 11
  8. 2023Learning Explicit Contact for Implicit Reconstruction of Hand-held Objects from Monocular Imagescited by 10
  9. 2023HandNeRF: Learning to Reconstruct Hand-Object Interaction Scene from a Single RGB Imagecited by 10
  10. 2023POEM: Reconstructing Hand in a Point Embedded Multi-view Stereocited by 9
  11. 2022UV-Based 3D Hand-Object Reconstruction with Grasp Optimizationcited by 8
  12. 2024Multi-view Hand Reconstruction with a Point-Embedded Transformercited by 6
13 more
  1. 2025ByteLoom: Weaving Geometry-Consistent Human-Object Interactions through Progressive Curriculum Learningcited by 6
  2. 2024Weakly-Supervised 3D Hand Reconstruction with Knowledge Prior and Uncertainty Guidancecited by 5
  3. 2024HandGCAT: Occlusion-Robust 3D Hand Mesh Reconstruction from Monocular Imagescited by 4
  4. 2024MLPHand: Real Time Multi-View 3D Hand Mesh Reconstruction via MLP Modelingcited by 3
  5. 2026Grasp in Gaussians: Fast Monocular Reconstruction of Dynamic Hand-Object Interactionscited by 2
  6. 2022A new benchmark for group distribution shifts in hand grasp regression for object manipulation. Can meta-learning raise the bar?cited by 0
  7. 2025Direction-Aware Hybrid Representation Learning for 3D Hand Pose and Shape Estimationcited by 0
  8. 2025Person Identification from Egocentric Human-Object Interactions using 3D Hand Posecited by 0
  9. 2025SPLite Hand: Sparsity-Aware Lightweight 3D Hand Pose Estimationcited by 0
  10. 2026UST-Hand: An Uncertainty-aware Spatiotemporal Point Cloud Interaction Network for 3D Self-supervised Hand Pose Estimationcited by 0
  11. 2026Hand-Object Interaction in the Age of Large Foundation Models:Reconstruction, Generation, and Embodied Transfercited by 0
  12. 2026EgoPHI: Estimating 3D Hand-Object Contact and Force from Egocentric Visioncited by 0
  13. 2026Video-Conditioned Generative Joint 2D-3D Hand Motion Recoverycited by 0