# Generalizable Human Pose Triangulation

arXiv: https://arxiv.org/abs/2110.00280 · HTML: https://mlsanity.com/paper/2110.00280/

## Key facts

- Cited by 24 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 42 references that are in the map.
- First posted on arXiv 1 Oct 2021.

## Builds on (most cited first, 26 of 26)

- [Categorical Reparameterization with Gumbel-Softmax](https://mlsanity.com/paper/1611.01144/) (2016)
- [The Concrete Distribution: A Continuous Relaxation of Discrete Random Variables](https://mlsanity.com/paper/1611.00712/) (2016)
- [Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1611.08050/) (2016)
- [Simple Baselines for Human Pose Estimation and Tracking](https://mlsanity.com/paper/1804.06208/) (2018)
- [Convolutional Pose Machines](https://mlsanity.com/paper/1602.00134/) (2016)
- [DSAC - Differentiable RANSAC for Camera Localization](https://mlsanity.com/paper/1611.05705/) (2016)
- [InterHand2.6M: A Dataset and Baseline for 3D Interacting Hand Pose Estimation from a Single RGB Image](https://mlsanity.com/paper/2008.09309/) (2020)
- [Hand Keypoint Detection in Single Images using Multiview Bootstrapping](https://mlsanity.com/paper/1704.07809/) (2017)
- [Learning to Find Good Correspondences](https://mlsanity.com/paper/1711.05971/) (2017)
- [Panoptic Studio: A Massively Multiview System for Social Interaction Capture](https://mlsanity.com/paper/1612.03153/) (2016)
- [Monocular Total Capture: Posing Face, Body, and Hands in the Wild](https://mlsanity.com/paper/1812.01598/) (2018)
- [Learnable Triangulation of Human Pose](https://mlsanity.com/paper/1905.05754/) (2019)
- [A* Sampling](https://mlsanity.com/paper/1411.0030/) (2014)
- [Learning Less is More - 6D Camera Localization via 3D Surface Regression](https://mlsanity.com/paper/1711.10228/) (2017)
- [Neural-Guided RANSAC: Learning Where to Sample Model Hypotheses](https://mlsanity.com/paper/1905.04132/) (2019)
- [Gradient Estimation Using Stochastic Computation Graphs](https://mlsanity.com/paper/1506.05254/) (2015)
- [Epipolar Transformers](https://mlsanity.com/paper/2005.04551/) (2020)
- [Self-Supervised Learning of 3D Human Pose using Multi-view Geometry](https://mlsanity.com/paper/1903.02330/) (2019)
- [Cross View Fusion for 3D Human Pose Estimation](https://mlsanity.com/paper/1909.01203/) (2019)
- [Lightweight Multi-View 3D Pose Estimation through Camera-Disentangled Representation](https://mlsanity.com/paper/2004.02186/) (2020)
- [View-Invariant Probabilistic Embedding for Human Pose](https://mlsanity.com/paper/1912.01001/) (2019)
- [Can 3D Pose be Learned from 2D Projections Alone?](https://mlsanity.com/paper/1808.07182/) (2018)
- [A generalizable approach for multi-view 3D human pose regression](https://mlsanity.com/paper/1804.10462/) (2018)
- [Rethinking Pose in 3D: Multi-stage Refinement and Recovery for Markerless Motion Capture](https://mlsanity.com/paper/1808.01525/) (2018)
- [Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge Sensors](https://mlsanity.com/paper/2106.14729/) (2021)
- [Self-Supervised 3D Human Pose Estimation with Multiple-View Geometry](https://mlsanity.com/paper/2108.07777/) (2021)

## Built on by (most cited first, 24 of 24)

- [AssemblyHands: Towards Egocentric Activity Understanding via 3D Hand Pose Estimation](https://mlsanity.com/paper/2304.12301/) (2023)
- [Ego3DPose: Capturing 3D Cues from Binocular Egocentric Views](https://mlsanity.com/paper/2309.11962/) (2023)
- [Multiple View Geometry Transformers for 3D Human Pose Estimation](https://mlsanity.com/paper/2311.10983/) (2023)
- [Efficient Annotation and Learning for 3D Hand Pose Estimation: A Survey](https://mlsanity.com/paper/2206.02257/) (2022)
- [Novel-view Synthesis and Pose Estimation for Hand-Object Interaction from Sparse Views](https://mlsanity.com/paper/2308.11198/) (2023)
- [Progressive Multi-view Human Mesh Recovery with Self-Supervision](https://mlsanity.com/paper/2212.05223/) (2022)
- [Markerless Multi-view 3D Human Pose Estimation: a survey](https://mlsanity.com/paper/2407.03817/) (2024)
- [MV-SSM: Multi-View State Space Modeling for 3D Human Pose Estimation](https://mlsanity.com/paper/2509.00649/) (2025)
- [HaMuCo: Hand Pose Estimation via Multiview Collaborative Self-Supervised Learning](https://mlsanity.com/paper/2302.00988/) (2023)
- [Probabilistic Triangulation for Uncalibrated Multi-View 3D Human Pose Estimation](https://mlsanity.com/paper/2309.04756/) (2023)
- [UPose3D: Uncertainty-Aware 3D Human Pose Estimation with Cross-View and Temporal Cues](https://mlsanity.com/paper/2404.14634/) (2024)
- [VoxelKeypointFusion: Generalizable Multi-View Multi-Person Pose Estimation](https://mlsanity.com/paper/2410.18723/) (2024)
- [Multi-person 3D pose estimation from unlabelled data](https://mlsanity.com/paper/2212.08731/) (2022)
- [Pose Splatter: A 3D Gaussian Splatting Model for Quantifying Animal Pose and Appearance](https://mlsanity.com/paper/2505.18342/) (2025)
- [RUMPL: Ray-Based Transformers for Universal Multi-View 2D to 3D Human Pose Lifting](https://mlsanity.com/paper/2512.15488/) (2025)
- [COMPOSE: Hypergraph Cover Optimization for Multi-view 3D Human Pose Estimation](https://mlsanity.com/paper/2601.09698/) (2026)
- [Unconstrained Multi-view Human Pose Estimation with Algebraic Priors](https://mlsanity.com/paper/2604.24312/) (2026)
- [Marker-free Human Gait Analysis using a Smart Edge Sensor System](https://mlsanity.com/paper/2411.09538/) (2024)
- [DeProPose: Deficiency-Proof 3D Human Pose Estimation via Adaptive Multi-View Fusion](https://mlsanity.com/paper/2502.16419/) (2025)
- [TrackStudio: An Integrated Toolkit for Markerless Tracking](https://mlsanity.com/paper/2511.07624/) (2025)
- [SkelSplat: Robust Multi-view 3D Human Pose Estimation with Differentiable Gaussian Rendering](https://mlsanity.com/paper/2511.08294/) (2025)
- [Human Pose Estimation in Trampoline Gymnastics: How to Improve Performance on Extreme Poses](https://mlsanity.com/paper/2604.01322/) (2026)
- [Mesh-Aware Epipolar Matching for Multi-View Multi-Person 3D Pose Estimation in Basketball](https://mlsanity.com/paper/2605.29953/) (2026)
- [HandMvNet: Real-Time 3D Hand Pose Estimation Using Multi-View Cross-Attention Fusion](https://mlsanity.com/paper/2608.20093/) (2026)

## Abstract (arXiv)

We address the problem of generalizability for multi-view 3D human pose estimation. The standard approach is to first detect 2D keypoints in images and then apply triangulation from multiple views. Even though the existing methods achieve remarkably accurate 3D pose estimation on public benchmarks, most of them are limited to a single spatial camera arrangement and their number. Several methods address this limitation but demonstrate significantly degraded performance on novel views. We propose a stochastic framework for human pose triangulation and demonstrate a superior generalization across different camera arrangements on two public datasets. In addition, we apply the same approach to the fundamental matrix estimation problem, showing that the proposed method can successfully apply to other computer vision problems. The stochastic framework achieves more than 8.8% improvement on the 3D pose estimation task, compared to the state-of-the-art, and more than 30% improvement for fundamental matrix estimation, compared to a standard algorithm.