MonoEgo: Monocular Metric Egocentric Demonstration Capture with Passive Wrist Constellations and Sparse Workstation Anchors

arXiv:2609.34512 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Code: https://github.com/jiejie567/MonoTag-SLAM

Project page: https://manifoldtechltd.github.io/wiki/en

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 14× in this paper · explained in 1 episode
• Calibration — 11× in this paper · explained in 7 episodes
• Consistency — 10× in this paper · explained in 3 episodes
• Alignment — 9× in this paper · explained in 1 episode
• Ablation — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Provenance — 2× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Optical Flow — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation
• EgoMimic: Scaling Imitation Learning via Egocentric Video
• DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
• UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception
• LDSO: Direct Sparse Odometry with Loop Closure
• UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers
• TagSLAM: Robust SLAM with Fiducial Markers
• Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Tracking
• MediaPipe Hands: On-device Real-time Hand Tracking
• Visuo-Acoustic Hand Pose and Contact Estimation

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