**HOPE-Net: A Graph-based Model**

**for Hand-Object Pose Estimation**

Bardia Doosti, Shujon Naha, Majid Mirbagheri, David Crandall

Hand-object pose estimation (HOPE) aims to jointly detect the poses of both a hand and of a held object. In this paper, we propose a lightweight model called HOPE-Net which jointly estimates hand and object pose in 2D and 3D in real-time. Our network uses a cascade of two adaptive graph convolutional neural networks, one to estimate 2D coordinates of the hand joints and object corners, followed by another to convert 2D coordinates to 3D. Our experiments show that through end-to-end training of the full network, we achieve better accuracy for both the 2D and 3D coordinate estimation problems. The proposed 2D to 3D graph convolution-based model could be applied to other 3D landmark detection problems, where it is possible to first predict the 2D keypoints and then transform them to 3D.

[papersandpresentations proj=egovision:hopenet]

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## Acknowledgements

This work was supported by the National Science Foundation (CAREER IIS-1253549) and the IU Office of the Vice Provost for Research, the College of Arts and Sciences, and the School of Informatics, Computing, and Engineering through the Emerging Areas of Research Project “Learning: Brains, Machines, and Children.”