A 3D Hand Attitude Estimation Method for Fixed Hand Posture Based on Dual-View RGB Images

This work provides a 3D hand attitude estimation approach for fixed hand posture based on a CNN and LightGBM for dual-view RGB images to facilitate the application of hand posture teleoperation. First, using dual-view cameras and an IMU sensor, we provide a simple method for building 3D hand posture datasets. This method can quickly acquire dual-view 2D hand image sets and automatically append the appropriate three-axis attitude angle labels. Then, combining ensemble learning, which has strong regression fitting capabilities, with deep learning, which has excellent automatic feature extraction capabilities, we present an integrated hand attitude CNN regression model. This model uses a Bayesian optimization based LightGBM in the ensemble learning algorithm to produce 3D hand attitude regression and two CNNs to extract dual-view hand image features. Finally, a mapping from dual-view 2D images to 3D hand attitude angles is established using a training approach for feature integration, and a comparative experiment is run on the test set. The results of the experiments demonstrate that the suggested method may successfully solve the hand self-occlusion issue and accomplish 3D hand attitude estimation using only two normal RGB cameras.