TasksSotADatasetsPapersMethodsSubmitAbout
Papers With Code 2

A community resource for machine learning research: papers, code, benchmarks, and state-of-the-art results.

Explore

Notable BenchmarksAll SotADatasetsPapersMethods

Community

Submit ResultsAbout

Data sourced from the PWC Archive (CC-BY-SA 4.0). Built by the community, for the community.

Papers/HOnnotate: A method for 3D Annotation of Hand and Object P...

HOnnotate: A method for 3D Annotation of Hand and Object Poses

Shreyas Hampali, Mahdi Rad, Markus Oberweger, Vincent Lepetit

2019-07-02CVPR 2020 63D Hand Pose Estimationhand-object posePose EstimationPose PredictionHand Pose Estimation
PaperPDFCodeCodeCodeCode

Abstract

We propose a method for annotating images of a hand manipulating an object with the 3D poses of both the hand and the object, together with a dataset created using this method. Our motivation is the current lack of annotated real images for this problem, as estimating the 3D poses is challenging, mostly because of the mutual occlusions between the hand and the object. To tackle this challenge, we capture sequences with one or several RGB-D cameras and jointly optimize the 3D hand and object poses over all the frames simultaneously. This method allows us to automatically annotate each frame with accurate estimates of the poses, despite large mutual occlusions. With this method, we created HO-3D, the first markerless dataset of color images with 3D annotations for both the hand and object. This dataset is currently made of 77,558 frames, 68 sequences, 10 persons, and 10 objects. Using our dataset, we develop a single RGB image-based method to predict the hand pose when interacting with objects under severe occlusions and show it generalizes to objects not seen in the dataset.

Results

TaskDatasetMetricValueModel
HandHO-3D v2AUC_J0.788Hampali et al.
HandHO-3D v2AUC_V0.79Hampali et al.
HandHO-3D v2F@15mm0.942Hampali et al.
HandHO-3D v2F@5mm0.506Hampali et al.
HandHO-3D v2PA-MPJPE (mm)10.7Hampali et al.
HandHO-3D v2PA-MPVPE10.6Hampali et al.
Pose EstimationHO-3D v2AUC_J0.788Hampali et al.
Pose EstimationHO-3D v2AUC_V0.79Hampali et al.
Pose EstimationHO-3D v2F@15mm0.942Hampali et al.
Pose EstimationHO-3D v2F@5mm0.506Hampali et al.
Pose EstimationHO-3D v2PA-MPJPE (mm)10.7Hampali et al.
Pose EstimationHO-3D v2PA-MPVPE10.6Hampali et al.
Hand Pose EstimationHO-3D v2AUC_J0.788Hampali et al.
Hand Pose EstimationHO-3D v2AUC_V0.79Hampali et al.
Hand Pose EstimationHO-3D v2F@15mm0.942Hampali et al.
Hand Pose EstimationHO-3D v2F@5mm0.506Hampali et al.
Hand Pose EstimationHO-3D v2PA-MPJPE (mm)10.7Hampali et al.
Hand Pose EstimationHO-3D v2PA-MPVPE10.6Hampali et al.
3DHO-3D v2AUC_J0.788Hampali et al.
3DHO-3D v2AUC_V0.79Hampali et al.
3DHO-3D v2F@15mm0.942Hampali et al.
3DHO-3D v2F@5mm0.506Hampali et al.
3DHO-3D v2PA-MPJPE (mm)10.7Hampali et al.
3DHO-3D v2PA-MPVPE10.6Hampali et al.
3D Hand Pose EstimationHO-3D v2AUC_J0.788Hampali et al.
3D Hand Pose EstimationHO-3D v2AUC_V0.79Hampali et al.
3D Hand Pose EstimationHO-3D v2F@15mm0.942Hampali et al.
3D Hand Pose EstimationHO-3D v2F@5mm0.506Hampali et al.
3D Hand Pose EstimationHO-3D v2PA-MPJPE (mm)10.7Hampali et al.
3D Hand Pose EstimationHO-3D v2PA-MPVPE10.6Hampali et al.
1 Image, 2*2 StitchiHO-3D v2AUC_J0.788Hampali et al.
1 Image, 2*2 StitchiHO-3D v2AUC_V0.79Hampali et al.
1 Image, 2*2 StitchiHO-3D v2F@15mm0.942Hampali et al.
1 Image, 2*2 StitchiHO-3D v2F@5mm0.506Hampali et al.
1 Image, 2*2 StitchiHO-3D v2PA-MPJPE (mm)10.7Hampali et al.
1 Image, 2*2 StitchiHO-3D v2PA-MPVPE10.6Hampali et al.

Related Papers

$π^3$: Scalable Permutation-Equivariant Visual Geometry Learning2025-07-17Revisiting Reliability in the Reasoning-based Pose Estimation Benchmark2025-07-17DINO-VO: A Feature-based Visual Odometry Leveraging a Visual Foundation Model2025-07-17From Neck to Head: Bio-Impedance Sensing for Head Pose Estimation2025-07-17AthleticsPose: Authentic Sports Motion Dataset on Athletic Field and Evaluation of Monocular 3D Pose Estimation Ability2025-07-17SpatialTrackerV2: 3D Point Tracking Made Easy2025-07-16SGLoc: Semantic Localization System for Camera Pose Estimation from 3D Gaussian Splatting Representation2025-07-16Efficient Calisthenics Skills Classification through Foreground Instance Selection and Depth Estimation2025-07-16