  We propose a novel framework for 3D hand shape reconstruction and hand-object
grasp optimization from a single RGB image. The representation of hand-object
contact regions is critical for accurate reconstructions. Instead of
approximating the contact regions with sparse points, as in previous works, we
propose a dense representation in the form of a UV coordinate map. Furthermore,
we introduce inference-time optimization to fine-tune the grasp and improve
interactions between the hand and the object. Our pipeline increases hand shape
reconstruction accuracy and produces a vibrant hand texture. Experiments on
datasets such as Ho3D, FreiHAND, and DexYCB reveal that our proposed method
outperforms the state-of-the-art.
