# Estimating Egocentric 3D Human Pose in the Wild with External Weak Supervision

arXiv: https://arxiv.org/abs/2201.07929 · HTML: https://mlsanity.com/paper/2201.07929/

## Key facts

- Cited by 34 papers in the map (data through 14 Oct 2026).
- Builds on 37 of its 51 references that are in the map.
- First posted on arXiv 20 Jan 2022.

## Builds on (most cited first, 30 of 37)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adversarial Discriminative Domain Adaptation](https://mlsanity.com/paper/1702.05464/) (2017)
- [Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1611.08050/) (2016)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [VIBE: Video Inference for Human Body Pose and Shape Estimation](https://mlsanity.com/paper/1912.05656/) (2019)
- [Pseudo-Labeling and Confirmation Bias in Deep Semi-Supervised Learning](https://mlsanity.com/paper/1908.02983/) (2019)
- [Simple Baselines for Human Pose Estimation and Tracking](https://mlsanity.com/paper/1804.06208/) (2018)
- [3D human pose estimation in video with temporal convolutions and semi-supervised training](https://mlsanity.com/paper/1811.11742/) (2018)
- [Meta Pseudo Labels](https://mlsanity.com/paper/2003.10580/) (2020)
- [In Defense of Pseudo-Labeling: An Uncertainty-Aware Pseudo-label Selection Framework for Semi-Supervised Learning](https://mlsanity.com/paper/2101.06329/) (2021)
- [Rectifying Pseudo Label Learning via Uncertainty Estimation for Domain Adaptive Semantic Segmentation](https://mlsanity.com/paper/2003.03773/) (2020)
- [Progressive Feature Alignment for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1811.08585/) (2018)
- [PseudoSeg: Designing Pseudo Labels for Semantic Segmentation](https://mlsanity.com/paper/2010.09713/) (2020)
- [Cross-Domain Adaptation for Animal Pose Estimation](https://mlsanity.com/paper/1908.05806/) (2019)
- [Self-Supervised Learning of 3D Human Pose using Multi-view Geometry](https://mlsanity.com/paper/1903.02330/) (2019)
- [Unsupervised 3D Pose Estimation with Geometric Self-Supervision](https://mlsanity.com/paper/1904.04812/) (2019)
- [RepNet: Weakly Supervised Training of an Adversarial Reprojection Network for 3D Human Pose Estimation](https://mlsanity.com/paper/1902.09868/) (2019)
- [xR-EgoPose: Egocentric 3D Human Pose from an HMD Camera](https://mlsanity.com/paper/1907.10045/) (2019)
- [Learning Monocular 3D Human Pose Estimation from Multi-view Images](https://mlsanity.com/paper/1803.04775/) (2018)
- [Mo2Cap2: Real-time Mobile 3D Motion Capture with a Cap-mounted Fisheye Camera](https://mlsanity.com/paper/1803.05959/) (2018)
- [SimPLE: Similar Pseudo Label Exploitation for Semi-Supervised Classification](https://mlsanity.com/paper/2103.16725/) (2021)
- [Multi-Context Attention for Human Pose Estimation](https://mlsanity.com/paper/1702.07432/) (2017)
- [Weakly-Supervised 3D Human Pose Learning via Multi-view Images in the Wild](https://mlsanity.com/paper/2003.07581/) (2020)
- [Learning from Synthetic Animals](https://mlsanity.com/paper/1912.08265/) (2019)
- [CanonPose: Self-Supervised Monocular 3D Human Pose Estimation in the Wild](https://mlsanity.com/paper/2011.14679/) (2020)
- [C3DPO: Canonical 3D Pose Networks for Non-Rigid Structure From Motion](https://mlsanity.com/paper/1909.02533/) (2019)
- [Estimating Egocentric 3D Human Pose in Global Space](https://mlsanity.com/paper/2104.13454/) (2021)
- [From Synthetic to Real: Unsupervised Domain Adaptation for Animal Pose Estimation](https://mlsanity.com/paper/2103.14843/) (2021)
- [Can 3D Pose be Learned from 2D Projections Alone?](https://mlsanity.com/paper/1808.07182/) (2018)
- [Self-Loop Uncertainty: A Novel Pseudo-Label for Semi-Supervised Medical Image Segmentation](https://mlsanity.com/paper/2007.09854/) (2020)

## Built on by (most cited first, 30 of 34)

- [Nymeria: A Massive Collection of Multimodal Egocentric Daily Motion in the Wild](https://mlsanity.com/paper/2406.09905/) (2024)
- [An Outlook into the Future of Egocentric Vision](https://mlsanity.com/paper/2308.07123/) (2023)
- [Put Myself in Your Shoes: Lifting the Egocentric Perspective from Exocentric Videos](https://mlsanity.com/paper/2403.06351/) (2024)
- [Egocentric Whole-Body Motion Capture with FisheyeViT and Diffusion-Based Motion Refinement](https://mlsanity.com/paper/2311.16495/) (2023)
- [Scene-aware Egocentric 3D Human Pose Estimation](https://mlsanity.com/paper/2212.11684/) (2022)
- [EventEgo3D: 3D Human Motion Capture from Egocentric Event Streams](https://mlsanity.com/paper/2404.08640/) (2024)
- [HMD^2: Environment-aware Motion Generation from Single Egocentric Head-Mounted Device](https://mlsanity.com/paper/2409.13426/) (2024)
- [3D Human Pose Perception from Egocentric Stereo Videos](https://mlsanity.com/paper/2401.00889/) (2023)
- [Instance Tracking in 3D Scenes from Egocentric Videos](https://mlsanity.com/paper/2312.04117/) (2023)
- [Ego4o: Egocentric Human Motion Capture and Understanding from Multi-Modal Input](https://mlsanity.com/paper/2504.08449/) (2025)
- [UniEgoMotion: A Unified Model for Egocentric Motion Reconstruction, Forecasting, and Generation](https://mlsanity.com/paper/2508.01126/) (2025)
- [Attention-Propagation Network for Egocentric Heatmap to 3D Pose Lifting](https://mlsanity.com/paper/2402.18330/) (2024)
- [EMHI: A Multimodal Egocentric Human Motion Dataset with HMD and Body-Worn IMUs](https://mlsanity.com/paper/2408.17168/) (2024)
- [A Survey on 3D Egocentric Human Pose Estimation](https://mlsanity.com/paper/2403.17893/) (2024)
- [EgoAvatar: Egocentric View-Driven and Photorealistic Full-body Avatars](https://mlsanity.com/paper/2410.01835/) (2024)
- [Estimating Ego-Body Pose from Doubly Sparse Egocentric Video Data](https://mlsanity.com/paper/2411.03561/) (2024)
- [Bridging Perspectives: A Survey on Cross-view Collaborative Intelligence with Egocentric-Exocentric Vision](https://mlsanity.com/paper/2506.06253/) (2025)
- [Bring Your Rear Cameras for Egocentric 3D Human Pose Estimation](https://mlsanity.com/paper/2503.11652/) (2025)
- [EventEgo3D++: 3D Human Motion Capture from a Head-Mounted Event Camera](https://mlsanity.com/paper/2502.07869/) (2025)
- [FRAME: Floor-aligned Representation for Avatar Motion from Egocentric Video](https://mlsanity.com/paper/2503.23094/) (2025)
- [EgoPoseFormer: A Simple Baseline for Stereo Egocentric 3D Human Pose Estimation](https://mlsanity.com/paper/2403.18080/) (2024)
- [Applications of Deep Learning for Top-View Omnidirectional Imaging: A Survey](https://mlsanity.com/paper/2304.08193/) (2023)
- [EgoPoseFormer v2: Accurate Egocentric Human Motion Estimation for AR/VR](https://mlsanity.com/paper/2603.04090/) (2026)
- [PoseAdapt: Sustainable Human Pose Estimation via Continual Learning Benchmarks and Toolkit](https://mlsanity.com/paper/2409.20469/) (2024)
- [E-3DPSM: A State Machine for Event-Based Egocentric 3D Human Pose Estimation](https://mlsanity.com/paper/2604.08543/) (2026)
- [Egocentric Whole-Body Human Mesh Recovery with Prior-Guided Learning](https://mlsanity.com/paper/2605.08606/) (2026)
- [EgoExoMoCap: Distributed Ego-Exo Human Motion Capture](https://mlsanity.com/paper/2607.15868/) (2026)
- [Human Motion Estimation with Everyday Wearables](https://mlsanity.com/paper/2512.21209/) (2025)
- [EgoPoseVR: Spatiotemporal Multi-Modal Reasoning for Egocentric Full-Body Pose in Virtual Reality](https://mlsanity.com/paper/2602.05590/) (2026)
- [AG-EgoPose: Spatially Anchored Residual Correction with Action Context for Monocular Egocentric 3D Pose Estimation](https://mlsanity.com/paper/2603.25175/) (2026)

## Abstract (arXiv)

Egocentric 3D human pose estimation with a single fisheye camera has drawn a significant amount of attention recently. However, existing methods struggle with pose estimation from in-the-wild images, because they can only be trained on synthetic data due to the unavailability of large-scale in-the-wild egocentric datasets. Furthermore, these methods easily fail when the body parts are occluded by or interacting with the surrounding scene. To address the shortage of in-the-wild data, we collect a large-scale in-the-wild egocentric dataset called Egocentric Poses in the Wild (EgoPW). This dataset is captured by a head-mounted fisheye camera and an auxiliary external camera, which provides an additional observation of the human body from a third-person perspective during training. We present a new egocentric pose estimation method, which can be trained on the new dataset with weak external supervision. Specifically, we first generate pseudo labels for the EgoPW dataset with a spatio-temporal optimization method by incorporating the external-view supervision. The pseudo labels are then used to train an egocentric pose estimation network. To facilitate the network training, we propose a novel learning strategy to supervise the egocentric features with the high-quality features extracted by a pretrained external-view pose estimation model. The experiments show that our method predicts accurate 3D poses from a single in-the-wild egocentric image and outperforms the state-of-the-art methods both quantitatively and qualitatively.