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arXiv · 2211.13429

UV-Based 3D Hand-Object Reconstruction with Grasp Optimization

Ziwei Yu·Linlin Yang·You Xie·Ping Chen·Angela Yao
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Abstract

We propose a novel framework for 3D hand shape reconstruction and hand-object grasp optimization from a single RGB image. The representation of hand-object contact regions is critical for accurate reconstructions. Instead of approximating the contact regions with sparse points, as in previous works, we propose a dense representation in the form of a UV coordinate map. Furthermore, we introduce inference-time optimization to fine-tune the grasp and improve interactions between the hand and the object. Our pipeline increases hand shape reconstruction accuracy and produces a vibrant hand texture. Experiments on datasets such as Ho3D, FreiHAND, and DexYCB reveal that our proposed method outperforms the state-of-the-art.

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Ziwei Yu, Linlin Yang, You Xie, Ping Chen, Angela Yao. 2022-11-24. UV-Based 3D Hand-Object Reconstruction with Grasp Optimization. https://arxiv.org/abs/2211.13429

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