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[CVPR 2024✨Highlight] Official repository for HOLD, the first method that jointly reconstructs articulated hands and objects from monocular videos without assuming a pre-scanned object template and 3D hand-object training data.
| Date | Stars |
|---|---|
| 2026-07-24 | 488 |
| 2026-07-25 | 489 |
| 2026-07-28 | 489 |
| 2026-07-30 | 489 |
| 2026-08-06 | 489 |
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## [CVPR'24 Highlight] HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Video
<p align="center">
<img src="./docs/static/logo.png" alt="Image" width="300" height="100%" />
</p>
[ [Project Page](https://zc-alexfan.github.io/hold) ]
[ [Paper](https://download.is.tue.mpg.de/hold/paper.pdf) ]
[ [SupMat](https://openaccess.thecvf.com/content/CVPR2024/supplemental/Fan_HOLD_Category-agnostic_3D_CVPR_2024_supplemental.pdf) ]
[ [ArXiv](https://arxiv.org/abs/2311.18448) ]
[ [Video](https://youtu.be/xm6WSkr2sIs) ]
[ [HOLD Account](https://hold.is.tue.mpg.de/) ]
[ [ICCV'25 HOLD+ARCTIC Challenge](https://hands-workshop.org/challenge2025.html) ]
Authors: [Zicong Fan](https://zc-alexfan.github.io/), [Maria Parelli](https://scholar.google.com/citations?user=ipSS2ToAAAAJ&hl=en), [Maria Eleni Kadoglou](https://ch.linkedin.com/in/marialena-kadoglou-337a10226), [Muhammed Kocabas](https://ps.is.mpg.de/person/mkocabas), [Xu Chen](https://xuchen-ethz.github.io/), [Michael J. Black](https://ps.is.mpg.de/person/black), [Otmar Hilliges](https://ait.ethz.ch/people/hilliges)
### News
> ✨3DV 2026: Looking for hand scans data? PALM is a large-scale dataset containing high-quality 13k registered 3dMD hand scans of 263 subjects and 90k calibrated multiview RGB images. See [PALM](https://github.com/facebookresearch/PALM) for details.
>
> <p align="center">
> <img src="https://github.com/facebookresearch/PALM/blob/main/docs/static/dataset-teaser.jpg" alt="PALM Teaser" width="80%"/>
> </p>
🚀 Register a HOLD account [here](https://hold.is.tue.mpg.de/register.php) for news such as code release, downloads, and future updates!
- 2025.07.04: Join our [ICCV competition](https://hands-workshop.org/challenge2025.html): Two hand + rigid object using HOLD on ARCTIC!
- 2024.07.04: Join our [ECCV competition](https://hands-workshop.org/challenge2024.html): Two hand + rigid object using HOLD on ARCTIC!
- 2024.07.04: HOLD beta is released!
- 2024.04.04: HOLD is awarded CVPR highlight!
- 2024.02.27: HOLD is accepted to CVPR'24! Working on code release!
<p align="center">
<img src="./docs/static/teaser.jpeg" alt="Image" width="80%"/>
</p>
This is a repository for HOLD, a method that jointly reconstructs hands and objects from monocular videos without assuming a pre-scanned object template.
HOLD can reconstruct 3D geometries of novel objects and hands:
<p align="center">
<img src="./docs/static/360/mug_ours.gif" alt="Image" width="80%"/>
<img src="./docs/static/ananas1_itw.jpg" alt="Image" width="80%"/>
</p>
### Potential directions from HOLD
- [Template-free bimanual hand-object reconstruction](https://hands-workshop.org/challenge2024.html#challenge2)
- [Textureless object interaction with hands](https://github.com/zju3dv/DetectorFreeSfM)
- [Multiple objects interaction with hands](https://www.projectaria.com/datasets/hot3d/)
<p align="center">
<img src="./docs/static/sushi.gif" alt="Image" width="80%"/>
</p>
### Features
- Instructions to download in-the-wild videos from HOLD as well as preprocessed data
- Scripts to preprocess and train on custom videos
- A volumetric rendering framework to reconstruct dynamic hand-object interaction
- A generalized codebase for single and two hand interaction with objects
- A viewer to interact with the prediction
- Code to evaluate and compare with HOLD in HO3D
### TODOs
- [ ] Tips on good reconstruction
- [ ] Clean the code further
- [X] Support arctic for two-hand + rigid object setting
### Documentation
- Setup environment and downloads: see [`docs/setup.md`](docs/setup.md)
- Training, evaluation, and visualization on preprocessed sequences: see [`docs/usage.md`](docs/usage.md)
- Preprocess custom sequences: see [`docs/custom.md`](docs/custom.md)
- Data documentation (checkpoints, dataset, log folder): see [`docs/data_doc.md`](docs/data_doc.md)
- Instructions for using HOLD on ARCTIC: see [`docs/arctic.md`](docs/arctic.md)
### Getting started
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matched fp:fe21f3c6729282f6, topic:computer-vision, topic:pose-estimation, topic:3d-reconstruction