mlsanityData to 7 Oct 2026

Fusing Wearable IMUs with Multi-View Images for Human Pose Estimation: A Geometric Approach

arXiv 2003.11163 ↗First posted 25 Mar 2020cs.CVcited by 27

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Abstract (arXiv)

We propose to estimate 3D human pose from multi-view images and a few IMUs attached at person's limbs. It operates by firstly detecting 2D poses from the two signals, and then lifting them to the 3D space. We present a geometric approach to reinforce the visual features of each pair of joints based on the IMUs. This notably improves 2D pose estimation accuracy especially when one joint is occluded. We call this approach Orientation Regularized Network (ORN). Then we lift the multi-view 2D poses to the 3D space by an Orientation Regularized Pictorial Structure Model (ORPSM) which jointly minimizes the projection error between the 3D and 2D poses, along with the discrepancy between the 3D pose and IMU orientations. The simple two-step approach reduces the error of the state-of-the-art by a large margin on a public dataset. Our code will be released at https://github.com/CHUNYUWANG/imu-human-pose-pytorch.

Key facts. Cited by 27 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 Mar 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 3; 2022: 7; 2023: 10; 2024: 3; 2025: 1; 2026: 3.

27 papers.

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  1. 2023EMDB: The Electromagnetic Database of Global 3D Human Pose and Shape in the Wildcited by 95
  2. 2023MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensingcited by 77
  3. 2022Transformer Inertial Poser: Real-time Human Motion Reconstruction from Sparse IMUs with Simultaneous Terrain Generationcited by 75
  4. 2022GFPose: Learning 3D Human Pose Prior with Gradient Fieldscited by 57
  5. 2022LiDAR-aid Inertial Poser: Large-scale Human Motion Capture by Sparse Inertial and LiDAR Sensorscited by 43
  6. 2023I'M HOI: Inertia-aware Monocular Capture of 3D Human-Object Interactionscited by 42
  7. 2022Faster VoxelPose: Real-time 3D Human Pose Estimation by Orthographic Projectioncited by 39
  8. 2023Dynamic Inertial Poser (DynaIP): Part-Based Motion Dynamics Learning for Enhanced Human Pose Estimation with Sparse Inertial Sensorscited by 29
  9. 2021TransPose: Real-time 3D Human Translation and Pose Estimation with Six Inertial Sensorscited by 24
  10. 2023Vision-Based Human Pose Estimation via Deep Learning: A Surveycited by 20
  11. 2021Adaptive Multi-view and Temporal Fusing Transformer for 3D Human Pose Estimationcited by 19
  12. 2022HybridCap: Inertia-aid Monocular Capture of Challenging Human Motionscited by 19
15 more
  1. 2024Ultra Inertial Poser: Scalable Motion Capture and Tracking from Sparse Inertial Sensors and Ultra-Wideband Rangingcited by 18
  2. 2023Fusing Monocular Images and Sparse IMU Signals for Real-time Human Motion Capturecited by 17
  3. 2021FLEX: Extrinsic Parameters-free Multi-view 3D Human Motion Reconstructioncited by 11
  4. 2022VirtualPose: Learning Generalizable 3D Human Pose Models from Virtual Datacited by 10
  5. 2022FusePose: IMU-Vision Sensor Fusion in Kinematic Space for Parametric Human Pose Estimationcited by 6
  6. 2023View Consistency Aware Holistic Triangulation for 3D Human Pose Estimationcited by 6
  7. 2023Human Pose-based Estimation, Tracking and Action Recognition with Deep Learning: A Surveycited by 6
  8. 2024Human Mesh Recovery from Arbitrary Multi-view Imagescited by 5
  9. 2024FreeCap: Hybrid Calibration-Free Motion Capture in Open Environmentscited by 3
  10. 2023Multimodal Active Measurement for Human Mesh Recovery in Close Proximitycited by 2
  11. 2025DiffCap: Diffusion-based Real-time Human Motion Capture using Sparse IMUs and a Monocular Cameracited by 2
  12. 2026AVI-HT: Adaptive Vision-IMU Fusion for 3D Hand Trackingcited by 2
  13. 2026Stereo-Inertial Poser: Towards Metric-Accurate Shape-Aware Motion Capture Using Sparse IMUs and a Single Stereo Cameracited by 1
  14. 2023Modeling the Uncertainty with Maximum Discrepant Students for Semi-supervised 2D Pose Estimationcited by 0
  15. 2026IMU-HOI: A Symbiotic Framework for Coherent Human-Object Interaction and Motion Capture via Contact-Conscious Inertial Fusioncited by 0