The HandNet dataset contains depth maps of 10 participants’ hands non-rigidly deformed in front of a RealSense RGB-D camera. The annotations are generated by a magnetic annotation technique. The 6D pose (i.e., the position and orientation of each fingertip) is present for the hand center as well as the five fingertips.

The dataset contains a total of 214,971 depth maps, including 202,198 training sets, 10,000 test sets, and 2,773 validation sets.