# MVOR: A Multi-view RGB-D Operating Room Dataset for 2D and 3D Human Pose Estimation

arXiv: https://arxiv.org/abs/1808.08180 · HTML: https://mlsanity.com/paper/1808.08180/

## Key facts

- Cited by 49 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Aug 2018.

## Built on by (most cited first, 30 of 49)

- [4D-OR: Semantic Scene Graphs for OR Domain Modeling](https://mlsanity.com/paper/2203.11937/) (2022)
- [The SARAS Endoscopic Surgeon Action Detection (ESAD) dataset: Challenges and methods](https://mlsanity.com/paper/2104.03178/) (2021)
- [MM-OR: A Large Multimodal Operating Room Dataset for Semantic Understanding of High-Intensity Surgical Environments](https://mlsanity.com/paper/2503.02579/) (2025)
- [Deep learning for unsupervised domain adaptation in medical imaging: Recent advancements and future perspectives](https://mlsanity.com/paper/2308.01265/) (2023)
- [Dual networks based 3D Multi-Person Pose Estimation from Monocular Video](https://mlsanity.com/paper/2205.00748/) (2022)
- [Markerless human pose estimation for biomedical applications: a survey](https://mlsanity.com/paper/2308.00519/) (2023)
- [Syn-Mediverse: A Multimodal Synthetic Dataset for Intelligent Scene Understanding of Healthcare Facilities](https://mlsanity.com/paper/2308.03193/) (2023)
- [EgoExOR: An Ego-Exo-Centric Operating Room Dataset for Surgical Activity Understanding](https://mlsanity.com/paper/2505.24287/) (2025)
- [Anatomy-guided domain adaptation for 3D in-bed human pose estimation](https://mlsanity.com/paper/2211.12193/) (2022)
- [DisguisOR: Holistic Face Anonymization for the Operating Room](https://mlsanity.com/paper/2307.14241/) (2023)
- [Creating a Digital Twin of Spinal Surgery: A Proof of Concept](https://mlsanity.com/paper/2403.16736/) (2024)
- [Markerless Multi-view 3D Human Pose Estimation: a survey](https://mlsanity.com/paper/2407.03817/) (2024)
- [Operating Room Workflow Analysis via Reasoning Segmentation over Digital Twins](https://mlsanity.com/paper/2503.21054/) (2025)
- [Neuromorphic High-Frequency 3D Dancing Pose Estimation in Dynamic Environment](https://mlsanity.com/paper/2301.06648/) (2023)
- [Unsupervised domain adaptation for clinician pose estimation and instance segmentation in the operating room](https://mlsanity.com/paper/2108.11801/) (2021)
- [3D Human Pose Estimation in Multi-View Operating Room Videos Using Differentiable Camera Projections](https://mlsanity.com/paper/2210.11826/) (2022)
- [SurgMAE: Masked Autoencoders for Long Surgical Video Analysis](https://mlsanity.com/paper/2305.11451/) (2023)
- [Learning from Synchronization: Self-Supervised Uncalibrated Multi-View Person Association in Challenging Scenes](https://mlsanity.com/paper/2503.13739/) (2025)
- [Know your sensORs -- A Modality Study For Surgical Action Classification](https://mlsanity.com/paper/2203.08674/) (2022)
- [Surgical Workflow Recognition: from Analysis of Challenges to Architectural Study](https://mlsanity.com/paper/2203.09230/) (2022)
- [Multi-Modal Unsupervised Pre-Training for Surgical Operating Room Workflow Analysis](https://mlsanity.com/paper/2207.07894/) (2022)
- [ST(OR)2: Spatio-Temporal Object Level Reasoning for Activity Recognition in the Operating Room](https://mlsanity.com/paper/2312.12250/) (2023)
- [Beyond Role-Based Surgical Domain Modeling: Generalizable Re-Identification in the Operating Room](https://mlsanity.com/paper/2503.13028/) (2025)
- [Self-supervised 3D Patient Modeling with Multi-modal Attentive Fusion](https://mlsanity.com/paper/2403.03217/) (2024)
- [When do they StOP?: A First Step Towards Automatically Identifying Team Communication in the Operating Room](https://mlsanity.com/paper/2502.08299/) (2025)
- [VoxelKeypointFusion: Generalizable Multi-View Multi-Person Pose Estimation](https://mlsanity.com/paper/2410.18723/) (2024)
- [Specialized Foundation Models for Intelligent Operating Rooms](https://mlsanity.com/paper/2505.12890/) (2025)
- [Decoding the Surgical Scene: A Scoping Review of Scene Graphs in Surgery](https://mlsanity.com/paper/2509.20941/) (2025)
- [AI-Enhanced Virtual Reality in Medicine: A Comprehensive Survey](https://mlsanity.com/paper/2402.03093/) (2024)
- [On-the-Fly Point Annotation for Fast Medical Video Labeling](https://mlsanity.com/paper/2404.14344/) (2024)

## Abstract (arXiv)

Person detection and pose estimation is a key requirement to develop intelligent context-aware assistance systems. To foster the development of human pose estimation methods and their applications in the Operating Room (OR), we release the Multi-View Operating Room (MVOR) dataset, the first public dataset recorded during real clinical interventions. It consists of 732 synchronized multi-view frames recorded by three RGB-D cameras in a hybrid OR. It also includes the visual challenges present in such environments, such as occlusions and clutter. We provide camera calibration parameters, color and depth frames, human bounding boxes, and 2D/3D pose annotations. In this paper, we present the dataset, its annotations, as well as baseline results from several recent person detection and 2D/3D pose estimation methods. Since we need to blur some parts of the images to hide identity and nudity in the released dataset, we also present a comparative study of how the baselines have been impacted by the blurring. Results show a large margin for improvement and suggest that the MVOR dataset can be useful to compare the performance of the different methods.