# PressureVision++: Estimating Fingertip Pressure from Diverse RGB Images

arXiv: https://arxiv.org/abs/2301.02310 · HTML: https://mlsanity.com/paper/2301.02310/

## Key facts

- Cited by 12 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 69 references that are in the map.
- First posted on arXiv 5 Jan 2023.

## Builds on (most cited first, 26 of 26)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [Aggregated Residual Transformations for Deep Neural Networks](https://mlsanity.com/paper/1611.05431/) (2016)
- [GRAB: A Dataset of Whole-Body Human Grasping of Objects](https://mlsanity.com/paper/2008.11200/) (2020)
- [DexYCB: A Benchmark for Capturing Hand Grasping of Objects](https://mlsanity.com/paper/2104.04631/) (2021)
- [Learning Pixel-level Semantic Affinity with Image-level Supervision for Weakly Supervised Semantic Segmentation](https://mlsanity.com/paper/1803.10464/) (2018)
- [What's the Point: Semantic Segmentation with Point Supervision](https://mlsanity.com/paper/1506.02106/) (2015)
- [Seed, Expand and Constrain: Three Principles for Weakly-Supervised Image Segmentation](https://mlsanity.com/paper/1603.06098/) (2016)
- [ContactPose: A Dataset of Grasps with Object Contact and Hand Pose](https://mlsanity.com/paper/2007.09545/) (2020)
- [Weakly-Supervised Semantic Segmentation via Sub-category Exploration](https://mlsanity.com/paper/2008.01183/) (2020)
- [ContactOpt: Optimizing Contact to Improve Grasps](https://mlsanity.com/paper/2104.07267/) (2021)
- [OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interaction](https://mlsanity.com/paper/2203.15709/) (2022)
- [Render for CNN: Viewpoint Estimation in Images Using CNNs Trained with Rendered 3D Model Views](https://mlsanity.com/paper/1505.05641/) (2015)
- [Domain Adaptive Semantic Segmentation Using Weak Labels](https://mlsanity.com/paper/2007.15176/) (2020)
- [UmeTrack: Unified multi-view end-to-end hand tracking for VR](https://mlsanity.com/paper/2211.00099/) (2022)
- [Estimating 3D Motion and Forces of Person-Object Interactions from Monocular Video](https://mlsanity.com/paper/1904.02683/) (2019)
- [Use the Force, Luke! Learning to Predict Physical Forces by Simulating Effects](https://mlsanity.com/paper/2003.12045/) (2020)
- [ReSkin: versatile, replaceable, lasting tactile skins](https://mlsanity.com/paper/2111.00071/) (2021)
- [PressureVision: Estimating Hand Pressure from a Single RGB Image](https://mlsanity.com/paper/2203.10385/) (2022)
- [Estimating Fingertip Forces, Torques, and Local Curvatures from Fingernail Images](https://mlsanity.com/paper/1909.05659/) (2019)
- [Crafting a multi-task CNN for viewpoint estimation](https://mlsanity.com/paper/1609.03894/) (2016)
- [HoloLens 2 Technical Evaluation as Mixed Reality Guide](https://mlsanity.com/paper/2207.09554/) (2022)

## Built on by (most cited first, 12 of 12)

- [EgoPressure: A Dataset for Hand Pressure and Pose Estimation in Egocentric Vision](https://mlsanity.com/paper/2409.02224/) (2024)
- [EgoTouch: On-Body Touch Input Using AR/VR Headset Cameras](https://mlsanity.com/paper/2509.01786/) (2025)
- [EgoTactile: Learning Grasp Pressure for Everyday Objects from Egocentric Video](https://mlsanity.com/paper/2606.09243/) (2026)
- [Posture-Informed Muscular Force Learning for Robust Hand Pressure Estimation](https://mlsanity.com/paper/2410.23629/) (2024)
- [Glove2Hand: Synthesizing Natural Hand-Object Interaction from Multi-Modal Sensing Gloves](https://mlsanity.com/paper/2603.20850/) (2026)
- [SurfaceXR: Fusing Smartwatch IMUs and Egocentric Hand Pose for Seamless Surface Interactions](https://mlsanity.com/paper/2603.19529/) (2026)
- [HOPE: Hand-Object Pressure Estimation from Monocular Videos](https://mlsanity.com/paper/2608.06192/) (2026)
- [EgoTac: In-the-wild Tactile Prediction from Egocentric Vision](https://mlsanity.com/paper/2608.15060/) (2026)
- [EgoPressDiff: Multimodal Video Diffusion for Egocentric UV-Domain Hand-Pressure Estimation](https://mlsanity.com/paper/2606.06872/) (2026)
- [TouchSight: Bare-Handed Tactile Prediction from Egocentric Video via Generative Visual Augmentation](https://mlsanity.com/paper/2609.20414/) (2026)
- [EclipseTouch: Touch Segmentation on Ad Hoc Surfaces using Worn Infrared Shadow Casting](https://mlsanity.com/paper/2509.03430/) (2025)
- [EgoPHI: Estimating 3D Hand-Object Contact and Force from Egocentric Vision](https://mlsanity.com/paper/2608.13014/) (2026)

## Abstract (arXiv)

Touch plays a fundamental role in manipulation for humans; however, machine perception of contact and pressure typically requires invasive sensors. Recent research has shown that deep models can estimate hand pressure based on a single RGB image. However, evaluations have been limited to controlled settings since collecting diverse data with ground-truth pressure measurements is difficult. We present a novel approach that enables diverse data to be captured with only an RGB camera and a cooperative participant. Our key insight is that people can be prompted to apply pressure in a certain way, and this prompt can serve as a weak label to supervise models to perform well under varied conditions. We collect a novel dataset with 51 participants making fingertip contact with diverse objects. Our network, PressureVision++, outperforms human annotators and prior work. We also demonstrate an application of PressureVision++ to mixed reality where pressure estimation allows everyday surfaces to be used as arbitrary touch-sensitive interfaces. Code, data, and models are available online.