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Physical Inertial Poser (PIP): Physics-aware Real-time Human Motion Tracking from Sparse Inertial Sensors

arXiv 2203.08528 ↗First posted 16 Mar 2022cs.GRcited by 144

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Abstract (arXiv)

Motion capture from sparse inertial sensors has shown great potential compared to image-based approaches since occlusions do not lead to a reduced tracking quality and the recording space is not restricted to be within the viewing frustum of the camera. However, capturing the motion and global position only from a sparse set of inertial sensors is inherently ambiguous and challenging. In consequence, recent state-of-the-art methods can barely handle very long period motions, and unrealistic artifacts are common due to the unawareness of physical constraints. To this end, we present the first method which combines a neural kinematics estimator and a physics-aware motion optimizer to track body motions with only 6 inertial sensors. The kinematics module first regresses the motion status as a reference, and then the physics module refines the motion to satisfy the physical constraints. Experiments demonstrate a clear improvement over the state of the art in terms of capture accuracy, temporal stability, and physical correctness.

Key facts. Cited by 144 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Mar 2022.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 13; 2023: 33; 2024: 34; 2025: 37; 2026: 27.

144 papers.

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  1. 2022PhysDiff: Physics-Guided Human Motion Diffusion Modelcited by 365
  2. 2023InterGen: Diffusion-based Multi-human Motion Generation under Complex Interactionscited by 205
  3. 2023WHAM: Reconstructing World-grounded Humans with Accurate 3D Motioncited by 200
  4. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  5. 2024Nymeria: A Massive Collection of Multimodal Egocentric Daily Motion in the Wildcited by 109
  6. 2022AvatarPoser: Articulated Full-Body Pose Tracking from Sparse Motion Sensingcited by 107
  7. 2023Avatars Grow Legs: Generating Smooth Human Motion from Sparse Tracking Inputs with Diffusion Modelcited by 104
  8. 2023Optimizing Diffusion Noise Can Serve As Universal Motion Priorscited by 97
  9. 2023EMDB: The Electromagnetic Database of Global 3D Human Pose and Shape in the Wildcited by 95
  10. 2022Ego-Body Pose Estimation via Ego-Head Pose Estimationcited by 93
  11. 2022Physics-Informed Machine Learning: A Survey on Problems, Methods and Applicationscited by 88
  12. 2022Transformer Inertial Poser: Real-time Human Motion Reconstruction from Sparse IMUs with Simultaneous Terrain Generationcited by 75
38 more
  1. 2022QuestSim: Human Motion Tracking from Sparse Sensors with Simulated Avatarscited by 74
  2. 2023X-Avatar: Expressive Human Avatarscited by 66
  3. 2023IMUPoser: Full-Body Pose Estimation using IMUs in Phones, Watches, and Earbudscited by 52
  4. 2023EgoLocate: Real-time Motion Capture, Localization, and Mapping with Sparse Body-mounted Sensorscited by 48
  5. 2023BoDiffusion: Diffusing Sparse Observations for Full-Body Human Motion Synthesiscited by 44
  6. 2022LiDAR-aid Inertial Poser: Large-scale Human Motion Capture by Sparse Inertial and LiDAR Sensorscited by 43
  7. 2023I'M HOI: Inertia-aware Monocular Capture of 3D Human-Object Interactionscited by 42
  8. 2023Realistic Full-Body Tracking from Sparse Observations via Joint-Level Modelingcited by 41
  9. 2023EgoPoser: Robust Real-Time Egocentric Pose Estimation from Sparse and Intermittent Observations Everywherecited by 31
  10. 2022State of the Art in Dense Monocular Non-Rigid 3D Reconstructioncited by 30
  11. 2022Scene-aware Egocentric 3D Human Pose Estimationcited by 30
  12. 2024Mocap Everyone Everywhere: Lightweight Motion Capture With Smartwatches and a Head-Mounted Cameracited by 30
  13. 2022HULC: 3D Human Motion Capture with Pose Manifold Sampling and Dense Contact Guidancecited by 29
  14. 2023DiffusionPoser: Real-time Human Motion Reconstruction From Arbitrary Sparse Sensors Using Autoregressive Diffusioncited by 29
  15. 2023Dynamic Inertial Poser (DynaIP): Part-Based Motion Dynamics Learning for Enhanced Human Pose Estimation with Sparse Inertial Sensorscited by 29
  16. 2023Physics-Informed Computer Vision: A Review and Perspectivescited by 28
  17. 2024Open-World Human-Object Interaction Detection via Multi-modal Promptscited by 28
  18. 2023CIMI4D: A Large Multimodal Climbing Motion Dataset under Human-scene Interactionscited by 27
  19. 2024PhysPT: Physics-aware Pretrained Transformer for Estimating Human Dynamics from Monocular Videoscited by 27
  20. 2023QuestEnvSim: Environment-Aware Simulated Motion Tracking from Sparse Sensorscited by 26
  21. 2024HMD^2: Environment-aware Motion Generation from Single Egocentric Head-Mounted Devicecited by 26
  22. 2024HMD-Poser: On-Device Real-time Human Motion Tracking from Scalable Sparse Observationscited by 22
  23. 2023Boosting Human-Object Interaction Detection with Text-to-Image Diffusion Modelcited by 21
  24. 2023Deep Learning for Inertial Positioning: A Surveycited by 20
  25. 2023SparsePoser: Real-time Full-body Motion Reconstruction from Sparse Datacited by 20
  26. 2024LiveHPS: LiDAR-based Scene-level Human Pose and Shape Estimation in Free Environmentcited by 20
  27. 2024HUMOS: Human Motion Model Conditioned on Body Shapecited by 20
  28. 2025MobilePoser: Real-Time Full-Body Pose Estimation and 3D Human Translation from IMUs in Mobile Consumer Devicescited by 20
  29. 2022HybridCap: Inertia-aid Monocular Capture of Challenging Human Motionscited by 19
  30. 2022Physical Interaction: Reconstructing Hand-object Interactions with Physicscited by 19
  31. 2024Stratified Avatar Generation from Sparse Observationscited by 19
  32. 2022MoCapDeform: Monocular 3D Human Motion Capture in Deformable Scenescited by 18
  33. 2023HMD-NeMo: Online 3D Avatar Motion Generation From Sparse Observationscited by 17
  34. 2023Fusing Monocular Images and Sparse IMU Signals for Real-time Human Motion Capturecited by 17
  35. 2023Decaf: Monocular Deformation Capture for Face and Hand Interactionscited by 17
  36. 2025Ego4o: Egocentric Human Motion Capture and Understanding from Multi-Modal Inputcited by 17
  37. 2024MMVP: A Multimodal MoCap Dataset with Vision and Pressure Sensorscited by 16
  38. 2024RELI11D: A Comprehensive Multimodal Human Motion Dataset and Methodcited by 16

50 most cited of 144 All 144 (JSON)