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3D Human Pose Estimation in RGBD Images for Robotic Task Learning

arXiv 1803.02622 ↗First posted 7 Mar 2018cs.CV cs.ROcited by 33

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Abstract (arXiv)

We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our approach builds on robust human keypoint detectors for color images and incorporates depth for lifting into 3D. We combine the system with our learning from demonstration framework to instruct a service robot without the need of markers. Experiments in real world settings demonstrate that our approach enables a PR2 robot to imitate manipulation actions observed from a human teacher.

Key facts. Cited by 33 papers in the map (data through 7 Oct 2026). First posted on arXiv 7 Mar 2018.

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Citing papers per year: 2019: 1; 2020: 0; 2021: 7; 2022: 5; 2023: 4; 2024: 4; 2025: 11; 2026: 1.

33 papers.

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  1. 2023IMUPoser: Full-Body Pose Estimation using IMUs in Phones, Watches, and Earbudscited by 52
  2. 2021Multi-modal 3D Human Pose Estimation with 2D Weak Supervision in Autonomous Drivingcited by 39
  3. 2022DiffuPose: Monocular 3D Human Pose Estimation via Denoising Diffusion Probabilistic Modelcited by 29
  4. 2024DITTO: Demonstration Imitation by Trajectory Transformationcited by 28
  5. 2022Weakly Supervised 3D Multi-person Pose Estimation for Large-scale Scenes based on Monocular Camera and Single LiDARcited by 23
  6. 2022HUM3DIL: Semi-supervised Multi-modal 3D Human Pose Estimation for Autonomous Drivingcited by 22
  7. 2023Hourglass Tokenizer for Efficient Transformer-Based 3D Human Pose Estimationcited by 15
  8. 2025Towards Balanced Multi-Modal Learning in 3D Human Pose Estimationcited by 11
  9. 2023LPFormer: LiDAR Pose Estimation Transformer with Multi-Task Networkcited by 9
  10. 20213D Human Pose Regression using Graph Convolutional Networkcited by 8
  11. 2023Neuromorphic High-Frequency 3D Dancing Pose Estimation in Dynamic Environmentcited by 8
  12. 2021Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Studycited by 5
21 more
  1. 2022Towards a Comprehensive Solution for a Vision-based Digitized Neurological Examinationcited by 5
  2. 2024HANDI: Hand-Centric Text-and-Image Conditioned Video Generationcited by 5
  3. 2025mmDEAR: mmWave Point Cloud Density Enhancement for Accurate Human Body Reconstructioncited by 5
  4. 2025H2OT: Hierarchical Hourglass Tokenizer for Efficient Video Pose Transformerscited by 5
  5. 2024Human Modelling and Pose Estimation Overviewcited by 4
  6. 2019Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applicationscited by 3
  7. 2021Heuristic Weakly Supervised 3D Human Pose Estimationcited by 3
  8. 2025GA3CE: Unconstrained 3D Gaze Estimation with Gaze-Aware 3D Context Encodingcited by 3
  9. 2022Human keypoint detection for close proximity human-robot interactioncited by 2
  10. 2024Depth-based Privileged Information for Boosting 3D Human Pose Estimation on RGBcited by 1
  11. 2025Unsupervised Cross-Domain 3D Human Pose Estimation via Pseudo-Label-Guided Global Transformscited by 1
  12. 2025Real-Time Human-Robot Interaction Intent Detection Using RGB-based Pose and Emotion Cues with Cross-Camera Model Generalizationcited by 1
  13. 2021Efficient Realistic Data Generation Framework leveraging Deep Learning-based Human Digitizationcited by 0
  14. 2021A3GC-IP: Attention-Oriented Adjacency Adaptive Recurrent Graph Convolutions for Human Pose Estimation from Sparse Inertial Measurementscited by 0
  15. 2021DeepMoCap: Deep Optical Motion Capture Using Multiple Depth Sensors and Retro-Reflectorscited by 0
  16. 2025From Neck to Head: Bio-Impedance Sensing for Head Pose Estimationcited by 0
  17. 2025Efficient Diffusion-Based 3D Human Pose Estimation with Hierarchical Temporal Pruningcited by 0
  18. 2025A3RNN: Bi-directional Fusion of Bottom-up and Top-down Process for Developmental Visual Attention in Robotscited by 0
  19. 2025A Novel Grouping-Based Hybrid Color Correction Algorithm for Color Point Cloudscited by 0
  20. 2025SkelSplat: Robust Multi-view 3D Human Pose Estimation with Differentiable Gaussian Renderingcited by 0
  21. 2026Sparkle: A Robust and Versatile Representation for Point Cloud based Human Motion Capturecited by 0

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  1. 2024RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generation
  2. 2026Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning
  3. 2026Pointing-Based Object Recognition
  4. 2026Flow Matching for Probabilistic Monocular 3D Human Pose Estimation
  5. 2026Flexible Geometric Guidance for Probabilistic Human Pose Estimation with Diffusion Models
  6. 2025Learning Category-level Last-meter Navigation from RGB Demonstrations of a Single-instance ↗
  7. 2026Monocular 3D Object Position Estimation with VLMs for Human-Robot Interaction
  8. 2026On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning