mlsanityData to 7 Oct 2026

Ray3D: ray-based 3D human pose estimation for monocular absolute 3D localization

arXiv 2203.11471 ↗First posted 22 Mar 2022cs.CVcited by 25

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Abstract (arXiv)

In this paper, we propose a novel monocular ray-based 3D (Ray3D) absolute human pose estimation with calibrated camera. Accurate and generalizable absolute 3D human pose estimation from monocular 2D pose input is an ill-posed problem. To address this challenge, we convert the input from pixel space to 3D normalized rays. This conversion makes our approach robust to camera intrinsic parameter changes. To deal with the in-the-wild camera extrinsic parameter variations, Ray3D explicitly takes the camera extrinsic parameters as an input and jointly models the distribution between the 3D pose rays and camera extrinsic parameters. This novel network design is the key to the outstanding generalizability of Ray3D approach. To have a comprehensive understanding of how the camera intrinsic and extrinsic parameter variations affect the accuracy of absolute 3D key-point localization, we conduct in-depth systematic experiments on three single person 3D benchmarks as well as one synthetic benchmark. These experiments demonstrate that our method significantly outperforms existing state-of-the-art models. Our code and the synthetic dataset are available at https://github.com/YxZhxn/Ray3D .

Key facts. Cited by 25 papers in the map (data through 7 Oct 2026). Builds on 38 of its 55 references that are in the map. First posted on arXiv 22 Mar 2022.

Builds on

38 of 55 references.

References · 38

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  6. 2016Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Imagecited by 692
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  12. 2017Cascaded Pyramid Network for Multi-Person Pose Estimationcited by 341
26 more
  1. 20213D Human Pose Estimation with Spatial and Temporal Transformerscited by 271
  2. 2019Convolutional Mesh Regression for Single-Image Human Shape Reconstructioncited by 270
  3. 2021PyMAF: 3D Human Pose and Shape Regression with Pyramidal Mesh Alignment Feedback Loopcited by 250
  4. 2017Unite the People: Closing the Loop Between 3D and 2D Human Representationscited by 205
  5. 2019DeepHuman: 3D Human Reconstruction from a Single Imagecited by 182
  6. 2019Learning to Reconstruct People in Clothing from a Single RGB Cameracited by 168
  7. 2021SPEC: Seeing People in the Wild with an Estimated Cameracited by 134
  8. 2019Camera Distance-aware Top-down Approach for 3D Multi-person Pose Estimation from a Single RGB Imagecited by 131
  9. 2020BCNet: Learning Body and Cloth Shape from A Single Imagecited by 118
  10. 2017Towards 3D Human Pose Estimation in the Wild: a Weakly-supervised Approachcited by 114
  11. 2017Exploiting temporal information for 3D pose estimationcited by 89
  12. 2021PoseAug: A Differentiable Pose Augmentation Framework for 3D Human Pose Estimationcited by 88
  13. 2020Motion Guided 3D Pose Estimation from Videoscited by 85
  14. 2017Lifting from the Deep: Convolutional 3D Pose Estimation from a Single Imagecited by 73
  15. 2019Holistic++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsensecited by 71
  16. 2020SMAP: Single-Shot Multi-Person Absolute 3D Pose Estimationcited by 52
  17. 2020HMOR: Hierarchical Multi-Person Ordinal Relations for Monocular Multi-Person 3D Pose Estimationcited by 44
  18. 2020Predicting Camera Viewpoint Improves Cross-dataset Generalization for 3D Human Pose Estimationcited by 36
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  20. 20183D Human Body Reconstruction from a Single Image via Volumetric Regressioncited by 29
  21. 2019Multi-Person 3D Human Pose Estimation from Monocular Imagescited by 19
  22. 2021Improving Robustness and Accuracy via Relative Information Encoding in 3D Human Pose Estimationcited by 18
  23. 2021Camera Distortion-aware 3D Human Pose Estimation in Video with Optimization-based Meta-Learningcited by 17
  24. 2019PoseLifter: Absolute 3D human pose lifting network from a single noisy 2D human posecited by 10
  25. 2019Absolute Human Pose Estimation with Depth Prediction Networkcited by 9
  26. 2020Multi-Person Absolute 3D Human Pose Estimation with Weak Depth Supervisioncited by 3

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 7; 2024: 9; 2025: 3; 2026: 5.

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  1. 2023Diffusion-Based 3D Human Pose Estimation with Multi-Hypothesis Aggregationcited by 81
  2. 2023GLA-GCN: Global-local Adaptive Graph Convolutional Network for 3D Human Pose Estimation from Monocular Videocited by 46
  3. 2023Back to Optimization: Diffusion-based Zero-Shot 3D Human Pose Estimationcited by 24
  4. 2024HMD-Poser: On-Device Real-time Human Motion Tracking from Scalable Sparse Observationscited by 22
  5. 2023HSTFormer: Hierarchical Spatial-Temporal Transformers for 3D Human Pose Estimationcited by 9
  6. 2024Multi-view Pose Fusion for Occlusion-Aware 3D Human Pose Estimationcited by 5
  7. 2024CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimatorscited by 4
  8. 2024Your Turn: At Home Turning Angle Estimation for Parkinson's Disease Severity Assessmentcited by 3
  9. 2023Semi-Automated Computer Vision based Tracking of Multiple Industrial Entities -- A Framework and Dataset Creation Approachcited by 2
  10. 2024The Influence of Faulty Labels in Data Sets on Human Pose Estimationcited by 2
  11. 2024BLAPose: Enhancing 3D Human Pose Estimation with Bone Length Adjustmentcited by 2
  12. 2024CUPS: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertaintycited by 2
13 more
  1. 2025PersPose: 3D Human Pose Estimation with Perspective Encoding and Perspective Rotationcited by 2
  2. 2025RUMPL: Ray-Based Transformers for Universal Multi-View 2D to 3D Human Pose Liftingcited by 2
  3. 2022FuRPE: Learning Full-body Reconstruction from Part Expertscited by 1
  4. 2023Spatio-temporal MLP-graph network for 3D human pose estimationcited by 1
  5. 2024Multi-hop graph transformer network for 3D human pose estimationcited by 1
  6. 2026LAMP: Localization Aware Multi-camera People Tracking in Metric 3D Worldcited by 1
  7. 2023PoseGraphNet++: Enriching 3D Human Pose with Orientation Estimationcited by 0
  8. 2024Learning Human Motion from Monocular Videos via Cross-Modal Manifold Alignmentcited by 0
  9. 2025Mocap-2-to-3: Multi-view Lifting for Monocular Motion Recovery with 2D Pretrainingcited by 0
  10. 2026RayD3D: Distilling Depth Knowledge Along the Ray for Robust Multi-View 3D Object Detectioncited by 0
  11. 2026UAV-OVO: Out-of-Viewpoint Generalization in UAV Action Recognitioncited by 0
  12. 2026EgoExoMoCap: Distributed Ego-Exo Human Motion Capturecited by 0
  13. 2026Field Converter: Geometry-Initialized Temporal Residual Refinement for World-Grounded Player Pose Estimation from Soccer Broadcastscited by 0