HMD-EgoPose: head-mounted display-based egocentric marker-less tool and hand pose estimation for augmented surgical guidance.

Our single-shot learned approach, which optimized 6DoF pose based on the joint interaction between the hand of a user and a rigid surgical drill, was robust to occlusion and complex surfaces and improved on current state-of-the-art approaches to marker-less tool and hand pose estimation. Further, we presented the feasibility of our approach for 6DoF object tracking on a commercially available OST-HMD.