RHD Hand Gesture Estimation Dataset

RHD stands for Rendered Hand Pose, which is an image dataset for hand gesture estimation. The dataset contains 41,258 training sets and 2,728 test sets.

Each sample provides:

• RGB image (320 x 320 pixels)
• Depth map (320 x 320 pixels)
• Class segmentation mask (320 x 320 pixels): person, background, 3 classes for each finger, and 1 class for each palm
• 21 hand key points with uv coordinates in the image frame, xyz coordinates in the world frame, and a visibility indicator
• intrinsic camera matrix K