mlsanityData to 7 Oct 2026

Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Data

arXiv 2004.01166 ↗First posted 2 Apr 2020cs.CVcited by 34

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Abstract (arXiv)

People spend a substantial part of their lives at rest in bed. 3D human pose and shape estimation for this activity would have numerous beneficial applications, yet line-of-sight perception is complicated by occlusion from bedding. Pressure sensing mats are a promising alternative, but training data is challenging to collect at scale. We describe a physics-based method that simulates human bodies at rest in a bed with a pressure sensing mat, and present PressurePose, a synthetic dataset with 206K pressure images with 3D human poses and shapes. We also present PressureNet, a deep learning model that estimates human pose and shape given a pressure image and gender. PressureNet incorporates a pressure map reconstruction (PMR) network that models pressure image generation to promote consistency between estimated 3D body models and pressure image input. In our evaluations, PressureNet performed well with real data from participants in diverse poses, even though it had only been trained with synthetic data. When we ablated the PMR network, performance dropped substantially.

Key facts. Cited by 34 papers in the map (data through 7 Oct 2026). First posted on arXiv 2 Apr 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 4; 2022: 8; 2023: 7; 2024: 4; 2025: 9; 2026: 2.

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  1. 2021ContactOpt: Optimizing Contact to Improve Graspscited by 137
  2. 20233D Human Pose Estimation via Intuitive Physicscited by 100
  3. 2023DECO: Dense Estimation of 3D Human-Scene Contact In The Wildcited by 54
  4. 2023LEMON: Learning 3D Human-Object Interaction Relation from 2D Imagescited by 49
  5. 2023Detecting Human-Object Contact in Imagescited by 41
  6. 2022PressureVision: Estimating Hand Pressure from a Single RGB Imagecited by 23
  7. 2022Object Detection Using Sim2Real Domain Randomization for Robotic Applicationscited by 23
  8. 2021BodyPressure -- Inferring Body Pose and Contact Pressure from a Depth Imagecited by 20
  9. 2022Domain Adaptive 3D Pose Augmentation for In-the-wild Human Mesh Recoverycited by 12
  10. 2022Anatomy-guided domain adaptation for 3D in-bed human pose estimationcited by 9
  11. 2021In-Bed Human Pose Estimation from Unseen and Privacy-Preserving Image Domainscited by 7
  12. 2022Under the Cover Infant Pose Estimation using Multimodal Datacited by 6
22 more
  1. 2023CameraPose: Weakly-Supervised Monocular 3D Human Pose Estimation by Leveraging In-the-wild 2D Annotationscited by 6
  2. 2025DiSRT-In-Bed: Diffusion-Based Sim-to-Real Transfer Framework for In-Bed Human Mesh Recoverycited by 6
  3. 2022Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactionscited by 5
  4. 2024BodyMAP -- Jointly Predicting Body Mesh and 3D Applied Pressure Map for People in Bedcited by 5
  5. 2022Estimating Pose from Pressure Data for Smart Beds with Deep Image-based Pose Estimatorscited by 4
  6. 2024Self-supervised 3D Patient Modeling with Multi-modal Attentive Fusioncited by 4
  7. 2021Heuristic Weakly Supervised 3D Human Pose Estimationcited by 3
  8. 2023Human Pose Estimation from Ambiguous Pressure Recordings with Spatio-temporal Masked Transformerscited by 3
  9. 2025PI-HMR: Towards Robust In-bed Temporal Human Shape Reconstruction with Contact Pressure Sensingcited by 3
  10. 2022Decanus to Legatus: Synthetic training for 2D-3D human pose liftingcited by 1
  11. 2026PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitationcited by 1
  12. 2023MassNet: A Deep Learning Approach for Body Weight Extraction from A Single Pressure Imagecited by 0
  13. 2024A Self-supervised Pressure Map human keypoint Detection Approch: Optimizing Generalization and Computational Efficiency Across Datasetscited by 0
  14. 2024Human Shape and Clothing Estimationcited by 0
  15. 2025Multi-modal 3D Pose and Shape Estimation with Computed Tomographycited by 0
  16. 2025VOccl3D: A Video Benchmark Dataset for 3D Human Pose and Shape Estimation under real Occlusionscited by 0
  17. 2025What-Meets-Where: Unified Learning of Action and Contact Localization in Imagescited by 0
  18. 2025SitLLM: Large Language Models for Sitting Posture Health Understanding via Pressure Sensor Datacited by 0
  19. 2025Pressure2Motion: Hierarchical Human Motion Reconstruction from Ground Pressure with Text Guidancecited by 0
  20. 2025PressTrack-HMR: Pressure-Based Top-Down Multi-Person Global Human Mesh Recoverycited by 0
  21. 2025Improving the Plausibility of Pressure Distributions Synthesized from Depth Image through Generative Modelingcited by 0
  22. 2026Shared Representation for 3D Pose Estimation, Action Classification, and Progress Prediction from Tactile Signalscited by 0