The　emergence　of　civil-use　depth　sensors　made　vision-based　man-machine　interaction　possible　through　hand　gesture,　which　relies　fundamentally　on　hand　pose　estimation　techniques.　In　this　work,　a　novel　hand　pose　estimation　method　is　proposed,　based　essentially　on　Fourier-descriptor-based　indexing　in　a　pre-built　hand　template　library.　The　proposed　method　takes　color-depth　as　input,　extracts　necessary　hand　in-formation　in　preprocessing,　and　estimate　hand　pose　through　two　stages,　from　rough　to　accurate.　This　proposed　hand　pose　estimation　method　is　simple　and　efficient;　quantitative　and　qualitative　evaluations　exhibit　its　effectiveness.