# HandDAGT: A Denoising Adaptive Graph Transformer for 3D Hand Pose Estimation

arXiv: https://arxiv.org/abs/2407.20542 · HTML: https://mlsanity.com/paper/2407.20542/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 50 references that are in the map.
- First posted on arXiv 30 Jul 2024.

## Builds on (most cited first, 30 of 32)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [End-to-End Human Pose and Mesh Reconstruction with Transformers](https://mlsanity.com/paper/2012.09760/) (2020)
- [DiffusionDet: Diffusion Model for Object Detection](https://mlsanity.com/paper/2211.09788/) (2022)
- [DexYCB: A Benchmark for Capturing Hand Grasping of Objects](https://mlsanity.com/paper/2104.04631/) (2021)
- [HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimation](https://mlsanity.com/paper/2011.14672/) (2020)
- [Mesh Graphormer](https://mlsanity.com/paper/2104.00272/) (2021)
- [FlowNet3D: Learning Scene Flow in 3D Point Clouds](https://mlsanity.com/paper/1806.01411/) (2018)
- [Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimation](https://mlsanity.com/paper/2104.14639/) (2021)
- [V2V-PoseNet: Voxel-to-Voxel Prediction Network for Accurate 3D Hand and Human Pose Estimation from a Single Depth Map](https://mlsanity.com/paper/1711.07399/) (2017)
- [Weakly Supervised 3D Hand Pose Estimation via Biomechanical Constraints](https://mlsanity.com/paper/2003.09282/) (2020)
- [HandOccNet: Occlusion-Robust 3D Hand Mesh Estimation Network](https://mlsanity.com/paper/2203.14564/) (2022)
- [Interacting Attention Graph for Single Image Two-Hand Reconstruction](https://mlsanity.com/paper/2203.09364/) (2022)
- [ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesis](https://mlsanity.com/paper/2109.05488/) (2021)
- [A2J: Anchor-to-Joint Regression Network for 3D Articulated Pose Estimation from a Single Depth Image](https://mlsanity.com/paper/1908.09999/) (2019)
- [Collaborative Learning for Hand and Object Reconstruction with Attention-guided Graph Convolution](https://mlsanity.com/paper/2204.13062/) (2022)
- [Robust 3D Hand Pose Estimation in Single Depth Images: from Single-View CNN to Multi-View CNNs](https://mlsanity.com/paper/1606.07253/) (2016)
- [Point-to-Pose Voting based Hand Pose Estimation using Residual Permutation Equivariant Layer](https://mlsanity.com/paper/1812.02050/) (2018)
- [JGR-P2O: Joint Graph Reasoning based Pixel-to-Offset Prediction Network for 3D Hand Pose Estimation from a Single Depth Image](https://mlsanity.com/paper/2007.04646/) (2020)
- [Centroid Transformers: Learning to Abstract with Attention](https://mlsanity.com/paper/2102.08606/) (2021)
- [DeepPrior++: Improving Fast and Accurate 3D Hand Pose Estimation](https://mlsanity.com/paper/1708.08325/) (2017)
- [Dense 3D Regression for Hand Pose Estimation](https://mlsanity.com/paper/1711.08996/) (2017)
- [HandFoldingNet: A 3D Hand Pose Estimation Network Using Multiscale-Feature Guided Folding of a 2D Hand Skeleton](https://mlsanity.com/paper/2108.05545/) (2021)
- [Pose Guided Structured Region Ensemble Network for Cascaded Hand Pose Estimation](https://mlsanity.com/paper/1708.03416/) (2017)

## Built on by (most cited first, 1 of 1)

- [EventEgoHands: Event-based Egocentric 3D Hand Mesh Reconstruction](https://mlsanity.com/paper/2505.19169/) (2025)

## Abstract (arXiv)

The extraction of keypoint positions from input hand frames, known as 3D hand pose estimation, is crucial for various human-computer interaction applications. However, current approaches often struggle with the dynamic nature of self-occlusion of hands and intra-occlusion with interacting objects. To address this challenge, this paper proposes the Denoising Adaptive Graph Transformer, HandDAGT, for hand pose estimation. The proposed HandDAGT leverages a transformer structure to thoroughly explore effective geometric features from input patches. Additionally, it incorporates a novel attention mechanism to adaptively weigh the contribution of kinematic correspondence and local geometric features for the estimation of specific keypoints. This attribute enables the model to adaptively employ kinematic and local information based on the occlusion situation, enhancing its robustness and accuracy. Furthermore, we introduce a novel denoising training strategy aimed at improving the model's robust performance in the face of occlusion challenges. Experimental results show that the proposed model significantly outperforms the existing methods on four challenging hand pose benchmark datasets. Codes and pre-trained models are publicly available at https://github.com/cwc1260/HandDAGT.