State-of-the-art methods for 3D hand pose estimation from depth images require large amounts of annotated training data. We propose to model the statistical relationships of 3D hand poses and corresponding depth images using two deep generative models with a shared latent space. By design, our architecture allows for learning from unlabeled image data in a semi-supervised manner. Assuming a one-to-one mapping between a pose and a depth map, any given point in the shared latent space can be projected into both a hand pose and a corresponding depth map. Regressing the hand pose can then be done by learning a discriminator to estimate the posterior of the latent pose given some depth maps. To improve generalization and to better exploit unlabeled depth maps, we jointly train a generator and a discriminator. At each iteration, the generator is updated with the back-propagated gradient from the discriminator to synthesize realistic depth maps of the articulated hand, while the discriminator benefits from an augmented training set of synthesized and unlabeled samples. The proposed discriminator network architecture is highly efficient and runs at 90 FPS on the CPU with accuracies comparable or better than state-of-art on 3 publicly available benchmarks.
Hand pose estimation generally falls into two camps, model-based tracking and frame-wise discriminative estimation. Conventional methods need either manually designed energy functions to measure the difference between synthesized samples and observations in model-based tracking @cite_9 @cite_53 @cite_49 @cite_39 @cite_1 @cite_0 @cite_18 or hand-crafted local @cite_37 @cite_10 @cite_15 @cite_44 @cite_39 or holistic @cite_32 features for discriminative estimation.
@cite_18 @cite_37 @cite_9 @cite_53 @cite_1 @cite_32 @cite_39 @cite_0 @cite_44 @cite_49 @cite_15 @cite_10
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We present a simple and effective method for 3D hand pose estimation from a single depth frame. As opposed to previous state-of-the-art methods based on holistic 3D regression, our method works on dense pixel-wise estimation. This is achieved by careful design choices in pose parameterization, which leverages both 2D and 3D properties of depth map. Specifically, we decompose the pose parameters into a set of per-pixel estimations, i.e., 2D heat maps, 3D heat maps and unit 3D directional vector fields. The 2D 3D joint heat maps and 3D joint offsets are estimated via multitask network cascades, which is trained end-to-end. The pixel-wise estimations can be directly translated into a vote casting scheme. A variant of mean shift is then used to aggregate local votes while enforcing consensus between the the estimated 3D pose and the pixel-wise 2D and 3D estimations by design. Our method is efficient and highly accurate. On MSRA and NYU hand dataset, our method outperforms all previous state-of-the-art approaches by a large margin. On the ICVL hand dataset, our method achieves similar accuracy compared to the nearly saturated result obtained by [5] and outperforms various other proposed methods. Code is available online1. We present a novel method for accurate marker-less capture of articulated skeleton motion of several subjects in general scenes, indoors and outdoors, even from input filmed with as few as two cameras. Our approach unites a discriminative image-based joint detection method with a model-based generative motion tracking algorithm through a combined pose optimization energy. The discriminative part-based pose detection method, implemented using Convolutional Networks (ConvNet), estimates unary potentials for each joint of a kinematic skeleton model. These unary potentials are used to probabilistically extract pose constraints for tracking by using weighted sampling from a pose posterior guided by the model. In the final energy, these constraints are combined with an appearance-based model-to-image similarity term. Poses can be computed very efficiently using iterative local optimization, as ConvNet detection is fast, and our formulation yields a combined pose estimation energy with analytic derivatives. In combination, this enables to track full articulated joint angles at state-of-the-art accuracy and temporal stability with a very low number of cameras. Tracking the articulated 3D motion of the hand has important applications, for example, in human-computer interaction and teleoperation. We present a novel method that can capture a broad range of articulated hand motions at interactive rates. Our hybrid approach combines, in a voting scheme, a discriminative, part-based pose retrieval method with a generative pose estimation method based on local optimization. Color information from a multi-view RGB camera setup along with a person-specific hand model are used by the generative method to find the pose that best explains the observed images. In parallel, our discriminative pose estimation method uses fingertips detected on depth data to estimate a complete or partial pose of the hand by adopting a part-based pose retrieval strategy. This part-based strategy helps reduce the search space drastically in comparison to a global pose retrieval strategy. Quantitative results show that our method achieves state-of-the-art accuracy on challenging sequences and a near-real time performance of 10 fps on a desktop computer. With the increase number of companies focusing on commercializing Augmented Reality (AR), Virtual Reality (VR) and wearable devices, the need for a hand based input mechanism is becoming essential in order to make the experience natural, seamless and immersive. Hand pose estimation has progressed drastically in recent years due to the introduction of commodity depth cameras. Hand pose estimation based on vision is still a challenging problem due to its complexity from self-occlusion (between fingers), close similarity between fingers, dexterity of the hands, speed of the pose and the high dimension of the hand kinematic parameters. Articulated hand pose estimation is still an open problem and under intensive research from both academia and industry. The 2 approaches used for hand pose estimation are: discriminative and generative. Generative approach is a model based that tries to fit a hand model to the observed data. Discriminative approach is appearance based, usually implemented with machine learning (ML) and require a large amount of training data. Recent hand pose estimation uses hybrid approach by combining both discriminative and generative methods into a single hand pipeline. In this paper, we focus on reviewing recent progress of hand pose estimation from depth sensor. We will survey discriminative methods, generative methods and hybrid methods. This paper is not a comprehensive review of all hand pose estimation techniques, it is a subset of some of the recent state-of-the-art techniques.