1. A system comprising: one or more processors; an imaging sensor; and one or more computer-readable media storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform acts comprising: obtaining a point set using the imaging sensor; identifying a first local extremum point from the point set along a first portion of an outer boundary of the point set, the first portion associated with a first curvature value that satisfies one or more curvature criteria; identifying a second local extremum point from the point set along a second portion of the outer boundary of the point set, the second portion associated with a second curvature value that satisfies the one or more curvature criteria; identifying a potential hand segment within the point set; identifying a first line segment from the point set, the first line segment extending from the first local extremum point and terminating at a first endpoint, the first endpoint different than the second local extremum point; identifying a second line segment from the point set, the second line segment extending from the second local extremum point and terminating at a second endpoint, the first endpoint different than the second endpoint, and the second endpoint different than the first local extremum point; identifying a centroid of a shape within the point set, the centroid based at least in part on the first endpoint and the second endpoint; applying a shape model to the potential hand segment based at least in part on a location of the centroid; determining that the potential hand segment is a potential palm segment based at least in part on the shape model and the location of the centroid; designating the point set as corresponding to a hand of a user; and comparing the potential hand segment to one or more hand pose models to identify a pose of the hand of the user.