A system configured for tracking a human hand in an augmented reality environment may comprise a distancing device, one or more physical processors, and/or other components. The distancing device may be configured to generate output signals conveying position information. The position information may include positions of surfaces of real-world objects, including surfaces of a human hand. Feature positions of one or more hand features of the hand may be determined through iterative operations of determining estimated feature positions of individual hand features from estimated feature position of other ones of the hand features.