3D Human Pose Estimation Based on Wearable IMUs and Multiple Camera Views

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Abstract

The problem of 3D human pose estimation (HPE) has been the focus of research in recent years, yet precise estimation remains an under-explored challenge. In this paper, the merits of both multiview images and wearable IMUs are combined to enhance the process of 3D HPE. We build upon a state-of-the-art baseline while introducing three novelties. Initially, we enhance the precision of keypoint localization by substituting Gaussian kernels with Laplacian kernels in the generation of target heatmaps. Secondly, we incorporate orientation regularized network (ORN), which enhances cross-modal heatmap fusion by taking a weighted average of the top-scored values instead of solely relying on the maximum value. This not only improves robustness to outliers but also leads to higher accuracy in pose estimation. Lastly, we modify the limb length constraint in the conventional orientation regularized pictorial structure model (ORPSM) to improve the estimation of joint positions. Specifically, we devise a soft-coded binary term for limb length constraint, hence imposing a flexible and smoothed penalization and reducing sensitivity to hyperparameters. The experimental results using the TotalCapture dataset reveal a significant improvement, with a 10.3% increase in PCKh accuracy at the one-twelfth threshold and a 3.9 mm reduction in MPJPE error compared to the baseline.

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