  Single view-based reconstruction of hand-object interaction is challenging
due to the severe observation missing caused by occlusions. This paper proposes
a physics-based method to better solve the ambiguities in the reconstruction.
It first proposes a force-based dynamic model of the in-hand object, which not
only recovers the unobserved contacts but also solves for plausible contact
forces. Next, a confidence-based slide prevention scheme is proposed, which
combines both the kinematic confidences and the contact forces to jointly model
static and sliding contact motion. Qualitative and quantitative experiments
show that the proposed technique reconstructs both physically plausible and
more accurate hand-object interaction and estimates plausible contact forces in
real-time with a single RGBD sensor.
