# Hand Visibility Detector: Per-Keypoint Visibility Estimation for Hands

arXiv: https://arxiv.org/abs/2608.11574 · HTML: https://mlsanity.com/paper/2608.11574/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 35 references that are in the map.
- First posted on arXiv 12 Aug 2026.

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

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [DINOv3](https://mlsanity.com/paper/2508.10104/) (2025)
- [CoTracker: It is Better to Track Together](https://mlsanity.com/paper/2307.07635/) (2023)
- [End-to-End Human Pose and Mesh Reconstruction with Transformers](https://mlsanity.com/paper/2012.09760/) (2020)
- [DexYCB: A Benchmark for Capturing Hand Grasping of Objects](https://mlsanity.com/paper/2104.04631/) (2021)
- [Reconstructing Hands in 3D with Transformers](https://mlsanity.com/paper/2312.05251/) (2023)
- [Mesh Graphormer](https://mlsanity.com/paper/2104.00272/) (2021)
- [H2O: Two Hands Manipulating Objects for First Person Interaction Recognition](https://mlsanity.com/paper/2104.11181/) (2021)
- [InterHand2.6M: A Dataset and Baseline for 3D Interacting Hand Pose Estimation from a Single RGB Image](https://mlsanity.com/paper/2008.09309/) (2020)
- [Particle Video Revisited: Tracking Through Occlusions Using Point Trajectories](https://mlsanity.com/paper/2204.04153/) (2022)
- [Transformer Quality in Linear Time](https://mlsanity.com/paper/2202.10447/) (2022)
- [3D Hand Shape and Pose from Images in the Wild](https://mlsanity.com/paper/1902.03451/) (2019)
- [Whole-Body Human Pose Estimation in the Wild](https://mlsanity.com/paper/2007.11858/) (2020)
- [RTMPose: Real-Time Multi-Person Pose Estimation based on MMPose](https://mlsanity.com/paper/2303.07399/) (2023)
- [WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wild](https://mlsanity.com/paper/2409.12259/) (2024)
- [Keypoint Transformer: Solving Joint Identification in Challenging Hands and Object Interactions for Accurate 3D Pose Estimation](https://mlsanity.com/paper/2104.14639/) (2021)
- [HandOccNet: Occlusion-Robust 3D Hand Mesh Estimation Network](https://mlsanity.com/paper/2203.14564/) (2022)
- [AssemblyHands: Towards Egocentric Activity Understanding via 3D Hand Pose Estimation](https://mlsanity.com/paper/2304.12301/) (2023)
- [ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactions](https://mlsanity.com/paper/2401.10232/) (2024)
- [3D Interacting Hand Pose Estimation by Hand De-occlusion and Removal](https://mlsanity.com/paper/2207.11061/) (2022)
- [HO-Cap: A Capture System and Dataset for 3D Reconstruction and Pose Tracking of Hand-Object Interaction](https://mlsanity.com/paper/2406.06843/) (2024)
- [Efficient Annotation and Learning for 3D Hand Pose Estimation: A Survey](https://mlsanity.com/paper/2206.02257/) (2022)
- [The Invisible EgoHand: 3D Hand Forecasting through EgoBody Pose Estimation](https://mlsanity.com/paper/2504.08654/) (2025)
- [Occlusion-aware Hand Pose Estimation Using Hierarchical Mixture Density Network](https://mlsanity.com/paper/1711.10872/) (2017)

## Built on by (most cited first, 2 of 2)

- [EventEgoHands++: Event-based Egocentric 3D Hand Mesh Reconstruction with Real Dataset](https://mlsanity.com/paper/2609.17189/) (2026)
- [EgoFound3R: End-to-End Egocentric Hand Reconstruction in World Space with Point-Wise Interaction Attributes](https://mlsanity.com/paper/2610.01210/) (2026)

## Abstract (arXiv)

Hand Pose Estimation (HPE) is a fundamental technology for various applications such as AR/VR and robotics. In these applications, the visibility of each hand joint in the image is crucial for assessing the reliability of estimation results under occlusion. However, most existing HPE methods output joint positions without explicitly indicating their visibility. Although some methods account for occlusion or visibility, visibility estimation has mainly been used as an auxiliary signal for improving pose estimation. To our knowledge, per-joint hand visibility estimation has not been systematically studied as a standalone task. In this work, we propose Hand Visibility Detector, a model for estimating the visibility of individual hand joints, and present the first systematic investigation of visibility estimation as an independent task. We show that leveraging the prior knowledge of HPE models pretrained on large-scale data as a backbone yields high performance in this task. We further demonstrate the utility of Hand Visibility Detector on a downstream task of 3D hand pose annotation via multi-view triangulation of 2D keypoints, showing that visibility-weighted triangulation reduces reprojection error. Our method is released as a ready-to-use package, and the code and demo are available at https://github.com/ryhara/hand_visibility_detector .