We propose a real-time DNN-based technique to segment hand and object of interacting motions from depth inputs. Our model is called DenseAttentionSeg, which contains a dense attention mechanism to fuse information in different scales and improves the results quality with skip-connections. Besides, we introduce a contour loss in model training, which helps to generate accurate hand and object boundaries. Finally, we propose and release our InterSegHands dataset, a fine-scale hand segmentation dataset containing about 52k depth maps of hand-object interactions. Our experiments evaluate the effectiveness of our techniques and datasets, and indicate that our method outperforms the current state-of-the-art deep segmentation methods on interaction segmentation.
As for RGB-based methods, Bambach segmented hands egocentrically in many activities via the combination of traditional and neural methods @cite_10 . Urooj explored egocentric hand segmentation in social activities @cite_19 . There are also some hand works (including hand tracking and gesture recognition) based on depth camera @cite_17 @cite_9 . Some methods used random decision forest(RDF) @cite_18 @cite_22 . Kang adopted a simple segmentation method by using a black wristband in their hand tracking work @cite_8 . They also studied the problem of hand segmentation recently @cite_0 .
@cite_18 @cite_22 @cite_8 @cite_9 @cite_0 @cite_19 @cite_10 @cite_17
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A large number of works in egocentric vision have concentrated on action and object recognition. Detection and segmentation of hands in first-person videos, however, has less been explored. For many applications in this domain, it is necessary to accurately segment not only hands of the camera wearer but also the hands of others with whom he is interacting. Here, we take an in-depth look at the hand segmentation problem. In the quest for robust hand segmentation methods, we evaluated the performance of the state of the art semantic segmentation methods, off the shelf and fine-tuned, on existing datasets. We fine-tune RefineNet, a leading semantic segmentation method, for hand segmentation and find that it does much better than the best contenders. Existing hand segmentation datasets are collected in the laboratory settings. To overcome this limitation, we contribute by collecting two new datasets: a) EgoYouTubeHands including egocentric videos containing hands in the wild, and b) HandOverFace to analyze the performance of our models in presence of similar appearance occlusions. We further explore whether conditional random fields can help refine generated hand segmentations. To demonstrate the benefit of accurate hand maps, we train a CNN for hand-based activity recognition and achieve higher accuracy when a CNN was trained using hand maps produced by the fine-tuned RefineNet. Finally, we annotate a subset of the EgoHands dataset for fine-grained action recognition and show that an accuracy of 58.6 can be achieved by just looking at a single hand pose which is much better than the chance level (12.5 ). We present an approach for real-time, robust and accurate hand pose estimation from moving egocentric RGB-D cameras in cluttered real environments. Existing methods typically fail for hand-object interactions in cluttered scenes imaged from egocentric viewpoints-common for virtual or augmented reality applications. Our approach uses two subsequently applied Convolutional Neural Networks (CNNs) to localize the hand and regress 3D joint locations. Hand localization is achieved by using a CNN to estimate the 2D position of the hand center in the input, even in the presence of clutter and occlusions. The localized hand position, together with the corresponding input depth value, is used to generate a normalized cropped image that is fed into a second CNN to regress relative 3D hand joint locations in real time. For added accuracy, robustness and temporal stability, we refine the pose estimates using a kinematic pose tracking energy. To train the CNNs, we introduce a new photorealistic dataset that uses a merged reality approach to capture and synthesize large amounts of annotated data of natural hand interaction in cluttered scenes. Through quantitative and qualitative evaluation, we show that our method is robust to self-occlusion and occlusions by objects, particularly in moving egocentric perspectives. Hands appear very often in egocentric video, and their appearance and pose give important cues about what people are doing and what they are paying attention to. But existing work in hand detection has made strong assumptions that work well in only simple scenarios, such as with limited interaction with other people or in lab settings. We develop methods to locate and distinguish between hands in egocentric video using strong appearance models with Convolutional Neural Networks, and introduce a simple candidate region generation approach that outperforms existing techniques at a fraction of the computational cost. We show how these high-quality bounding boxes can be used to create accurate pixelwise hand regions, and as an application, we investigate the extent to which hand segmentation alone can distinguish between different activities. We evaluate these techniques on a new dataset of 48 first-person videos of people interacting in realistic environments, with pixel-level ground truth for over 15,000 hand instances. We tackle the problem of estimating the 3D pose of an individual's upper limbs (arms+hands) from a chest mounted depth-camera. Importantly, we consider pose estimation during everyday interactions with objects. Past work shows that strong pose+viewpoint priors and depth-based features are crucial for robust performance. In egocentric views, hands and arms are observable within a well defined volume in front of the camera. We call this volume an egocentric workspace. A notable property is that hand appearance correlates with workspace location. To exploit this correlation, we classify arm+hand configurations in a global egocentric coordinate frame, rather than a local scanning window. This greatly simplify the architecture and improves performance. We propose an efficient pipeline which 1) generates synthetic workspace exemplars for training using a virtual chest-mounted camera whose intrinsic parameters match our physical camera, 2) computes perspective-aware depth features on this entire volume and 3) recognizes discrete arm+hand pose classes through a sparse multi-class SVM. We achieve state-of-the-art hand pose recognition performance from egocentric RGB-D images in real-time.