DewHand: Direct Metric World-Space Hand Motion Reconstruction from Egocentric Videos

Naru Suzuki, Satoshi Ikehata, Takehiko Ohkawa, Yoichi Sato, Shuhei Kurita · 2026 · arXiv

DOI: 10.48550/arXiv.2610.29936 · open-access PDF

Abstract

Recovering metric world-space hand motion from egocentric video supports understanding human interactions and transferring them to embodied agents. Three challenges complicate this task: multi-stage pipelines propagate errors from independently estimated hand and camera motion; monocular observations leave physical scale ambiguous; and occlusion and out-of-view hands admit multiple plausible motion trajectories. We present DewHand, a unified model for direct joint reconstruction of world-space hand and camera motion. To avoid compounding errors from multi-stage estimation, DewHand jointly pred

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