A simulation-based pipeline using GraspIt grasp quality metrics detects hand-object contact with 89.3% accuracy on DexYCB frames.
Hasson et al., ”Learning joint reconstruction of hands and manipu- lated objects,” IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019
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Hand-Object Contact Detection using Grasp Quality Metrics
A simulation-based pipeline using GraspIt grasp quality metrics detects hand-object contact with 89.3% accuracy on DexYCB frames.