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Accurate 3D hand pose estimation plays an important role in Human MachineInteraction (HMI). In the reality of HMI, joints in fingers stretching out,especially corresponding fingertips, are much more important than other joints.We propose a novel method to refine stretching-out finger joint locations afterobtaining rough hand pose estimation. It first detects which fingers arestretching out, then neighbor pixels of certain joint vote for its new locationbased on random forests. The algorithm is tested on two public datasets: MSRA15and ICVL. After the refinement stage of stretching-out fingers, errors ofpredicted HMI finger joint locations are significantly reduced. Mean error ofall fingertips reduces around 5mm (relatively more than 20%). Stretching-outfingertip locations are even more precise, which in MSRA15 reduces 10.51mm(relatively 41.4%).

Interactive Hand Pose Estimation: Boosting accuracy in localizing extended finger joints