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The system runs on lightweight hardware (Raspberry Pi Zero 2 W and ESP32) and uses OpenCV ArUco markers for 3D hand pose estimation, capacitive sensors for finger-state recognition, and an IMU for orientation tracking. Communication synchronization relies on Bluetooth Low Energy and WebSocket, while exposure adjustment and region-of-interest processing improve robustness under varying illumination.",{"@graph":69,"@context":122},[70,84,105],{"@type":71,"itemListElement":72},"BreadcrumbList",[73,77,79,82],{"item":74,"name":75,"@type":76,"position":8},"https://docshare.wps.com","Home","ListItem",{"item":78,"name":9,"@type":76,"position":14},"https://docshare.wps.com/document/",{"item":80,"name":30,"@type":76,"position":81},"https://docshare.wps.com/document/technology/",3,{"item":83,"name":65,"@type":76,"position":19},"https://docshare.wps.com/document/a-hybrid-approach-for-real-time-hand-tracking-using-fiducial-markers-and-inertial-sensors/432077/",{"url":83,"name":65,"@type":85,"image":86,"author":91,"headline":65,"publisher":94,"fileFormat":97,"inLanguage":63,"description":67,"dateModified":98,"datePublished":99,"encodingFormat":97,"isAccessibleForFree":100,"interactionStatistic":101},"DigitalDocument",{"url":87,"@type":88,"width":89,"height":90},"https://docshare.wps.com/thumbnails/a-hybrid-approach-for-real-time-hand-tracking-using-fiducial-markers-and-inertial-sensors/432077.png","ImageObject",300,407,{"name":92,"@type":93},"Stanford","Person",{"url":74,"name":95,"@type":96},"DocShare","Organization","application/pdf","2026-10-21","2026-09-29",true,{"@type":102,"interactionType":103,"userInteractionCount":52},"InteractionCounter",{"@type":104},"ViewAction",{"@type":106,"mainEntity":107},"FAQPage",[108,114,118],{"name":109,"@type":110,"acceptedAnswer":111},"What sensors and methods does the hybrid hand-tracking system combine?","Question",{"text":112,"@type":113},"It integrates fiducial marker detection (OpenCV ArUco), capacitive touch sensing for finger states, and inertial measurement using an IMU for orientation tracking.","Answer",{"name":115,"@type":110,"acceptedAnswer":116},"What hardware platform is used for real-time operation?",{"text":117,"@type":113},"The implementation uses lightweight hardware: a Raspberry Pi Zero 2 W paired with an ESP32.",{"name":119,"@type":110,"acceptedAnswer":120},"How is synchronization and data transmission handled for external devices?",{"text":121,"@type":113},"Sensor data is transmitted using Bluetooth Low Energy and synchronized with external devices via WebSocket protocols.","https://schema.org",{"og:url":83,"og:type":124,"og:title":65,"og:site_name":95,"og:description":67},"article",{"robots":126,"canonical":83},"index,follow",{"doc_id":128,"site_id":62},432077,1790902609,{"code":4,"msg":5,"data":131},{"doc_id":128,"user_id":132,"nickname":92,"user_avatar":133,"doc_module":4,"category_id":29,"category_name":30,"doc_title":65,"doc_description":67,"doc_content":134,"file_id":135,"file_url":136,"file_type":137,"file_size":138,"view_count":52,"is_deleted":4,"is_public":8,"is_downloadable":8,"audit_status":8,"page_count":46,"language":139,"language_code":63,"site_id":62,"html_lang":63,"table_of_contents":140,"faqs":141,"seo_title":142,"seo_description":67,"update_tm":143,"read_time":31},2336477552062,"https://ap-avatar.wpscdn.com/davatar_994ba38a5ba835b3df7d355c54d3ed8d","MethodsX 15 (2025) 103609  \nContents lists available at ScienceDirect  \nMethodsX  \njournal [homepage:](homepage: www.elsevier.com/locate/methodsx)[ www.elsevier.com/locate/methodsx](homepage: www.elsevier.com/locate/methodsx)  \n| A hybrid approach for real-time hand tracking using fiducial markers and inertial sensors✰\u003Cbr>Ranjeet Bidwea,* , Shubhangi Deokara, Yash Parkhi a, Tanisha Vyasa, Nimita Jestina, Utkarsh Kumar b, Satviki Budhiaa, Armaan Jeswania\u003Cbr>a Department of Computer Science and Engineering, Symbiosis Institute of Technology, Pune Campus, Symbiosis International (Deemed University), Pune 412115, India\u003Cbr>b Department of Robotics and Automation, Symbiosis Institute of Technology, Pune Campus, Symbiosis International (Deemed University), Pune 412115, India | |\n| --- | --- |\n| G R A P H I C A L A B S T R A C T |  |\n| |  |\n\nA R T I C L E I N F O  \nKeywords:  \nHand tracking  \nFiducial markers Computer vision Capacitive touch sensors OpenCV  \nArUco markers  \nA B S T R A C T  \nThis paper presents a cost-effective hybrid hand-tracking technique that integrates fiducial marker detection, capacitive touch sensing, and inertial measurement for real-time gesture recognition in immersive environments. The system is implemented on lightweight hardware comprising a Raspberry Pi Zero 2 W and an ESP32, with OpenCV’s ArUco marker detection enabling 3D hand pose estimation, capacitive sensors supporting finger-state recognition, and an Inertial Measurement Unit (IMU) providing orientation tracking. Optimizations such as exposure adjustment and region-of-interest processing ensure robust marker detection under variable  \n✰ Method  \n* Corresponding author.  \nE-mail address: [ranjeet.bidwe@sitpune.edu.in](ranjeet.bidwe@sitpune.edu.in) (R. Bidwe).  \n[https://doi.org/10.1016/j.mex.2025.103609](https://doi.org/10.1016/j.mex.2025.103609)  \nReceived 2 June 2025; Accepted 5 September 2025  \nAvailable online 8 September 2025  \n2215-0161/© 2025 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY license  \n([http://creativecommons.org/licenses/by/4.0/](http://creativecommons.org/licenses/by/4.0/)).  \nR. Bidwe et al. MethodsX 15 (2025) 103609  \nInertial measurement unit (IMU) Bluetooth Low Energy (BLE)  \nillumination, while sensor data is transmitted via Bluetooth Low Energy (BLE) and WebSocket protocols for synchronization with external devices.  \nThe methodological novelty of this work is highlighted as follows:  \n•High Accuracy Across Modalities: Achieved 3.4 mm localization accuracy, 85–91% orientation accuracy, and ~2.9 mm hand pose keypoint accuracy, with trajectory fidelity maintained at 80–81%.  \n•Robust Finger-State Recognition: The capacitive sensing module consistently delivered 96.1% accuracy in detecting finger states across multiple runs.  \n•Validated Communication Trade-offs: Latency testing established complementary roles of WiFi (high throughput, ~467 msg/s) and BLE (low latency, ~50 ms, >98% reliability) for real-time applications.  \nBy fusing multiple sensing modalities, the method delivers enhanced accuracy, responsiveness, and stability while minimizing computational overhead. The system provides a reproducible, modular, and scalable solution suitable for VR/AR interaction, assistive technology, education, and human–computer interaction.  \n\n| Specifications table |  |\n| --- | --- |\n| Subject area | Computer Science |\n| More specific subject area | Computer Vision\u003Cbr>Edge Computing & IoT\u003Cbr>Real-Time Communication |\n| Name of your method | Hybrid Hand Tracking Using Fiducial Markers and Inertial Sensors |\n| Name and reference of original method | None |\n| Resource availability | None |\n\nBackground  \nSophisticated hand-tracking technology is a central aspect of human-computer interfaces, providing users with a natural and intuitive means of interacting with virtual spaces. In contrast to the more conventional systems that use infrared sensors or gloves with onboard markers, new hand-tracking","cbCaieWPcAYhU9j8","https://ap.wps.com/l/cbCaieWPcAYhU9j8","pdf",13824725,"English","# Keywords and Abstract\n## Method overview\n## Background\n# Specifications and System Components\n## Hand pose and finger state recognition\n## IMU and communication pipeline\n## Reported performance highlights","[{\"question\":\"What sensors and methods does the hybrid hand-tracking system combine?\",\"answer\":\"It integrates fiducial marker detection (OpenCV ArUco), capacitive touch sensing for finger states, and inertial measurement using an IMU for orientation tracking.\"},{\"question\":\"What hardware platform is used for real-time operation?\",\"answer\":\"The implementation uses lightweight hardware: a Raspberry Pi Zero 2 W paired with an ESP32.\"},{\"question\":\"How is synchronization and data transmission handled for external devices?\",\"answer\":\"Sensor data is transmitted using Bluetooth Low Energy and synchronized with external devices via WebSocket protocols.\"}]","A hybrid approach for real-time hand tracking using fiducial markers and inertial sensors | PDF",1790657955]