1. A method for processing data, comprising: receiving a depth map of a scene containing a human hand, the depth map comprising a matrix of pixels having respective pixel depth values, the hand including fingers having multiple joints; extracting from the depth map information based on the depth values in a plurality of positions distributed over the human hand; processing the information in order to estimate respective candidate positions of the finger joints; and estimating a pose of the human hand by choosing a combination of the positions of the finger joints, responsively to anatomical constraints of the hand, that gives a hand configuration that is most anatomically probable among the candidate positions.