Methods and systems for 3D hand pose estimation from RGB images

Methods and systems for estimation of a 3D hand pose are disclosed. A 2D image containing a detected hand is processed using a U-net network to obtain a global feature vector and a heatmap for the keypoints of the hand. Information from the global feature vector and the heatmap are concatenated to obtain a set of input tokens that are processed using a transformer encoder to obtain a first set of 2D keypoints representing estimated 2D locations of the keypoints in a first view. The first set of 2D keypoints are inputted as a query to a transformer decoder, to obtain a second set of 2D keypoints representing estimated 2D locations of the keypoints in a second view. The first and second sets of 2D keypoints are aggregated to output the set of estimated 3D keypoints.