[Submitted on 29 Oct 2026]
Title:EgoHSI3R: Online 4D Hand-Scene Interaction Reconstruction from Egocentric Video
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Abstract:Egocentric videos offer an abundant source of hand-scene interactions for embodied learning, which requires recovering hands, camera, and scene consistently in a shared 3D world. Existing methods focus on either camera-frame hands or world-space hand trajectories, without jointly recovering the scene pointmaps or interaction information. Building a complete reconstruction from such specialized predictions therefore typically requires per-sequence optimization. We propose EgoHSI3R, a unified feed-forward framework for online 4D hand-scene interaction reconstruction from egocentric monocular video. To jointly recover these components, it maintains a recurrent scene representation that accumulates geometric evidence over time and provides a shared world space and scale. We introduce hand-centric prompts that fuse pretrained hand priors and local scene context, while MANO vertex queries attend to scene features to predict dense per-vertex contact. These designs enable a single network to jointly estimate camera motion, dense scene geometry, world-space bilateral MANO hands, and per-vertex hand contact. Despite operating causally, EgoHSI3R achieves the lowest world-space hand joint error on ARCTIC among the evaluated methods, while offering faster inference than existing world-space hand reconstruction pipelines and competitive camera and scene reconstruction accuracy.
Subjects:
Computer Vision and Pattern Recognition (cs.CV)
Cite as: arXiv:2610.40832 [cs.CV]
(or arXiv:2610.40832v1 [cs.CV] for this version)
https://doi.org/10.48550/arXiv.2610.40832
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Mingzhi Pei [view email] [v1] Thu, 29 Oct 2026 18:14:06 UTC (4,384 KB)
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