mlsanityData to 7 Oct 2026

LiDARCap: Long-range Marker-less 3D Human Motion Capture with LiDAR Point Clouds

arXiv 2203.14698 ↗First posted 28 Mar 2022cs.CVcited by 32

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Abstract (arXiv)

Existing motion capture datasets are largely short-range and cannot yet fit the need of long-range applications. We propose LiDARHuman26M, a new human motion capture dataset captured by LiDAR at a much longer range to overcome this limitation. Our dataset also includes the ground truth human motions acquired by the IMU system and the synchronous RGB images. We further present a strong baseline method, LiDARCap, for LiDAR point cloud human motion capture. Specifically, we first utilize PointNet++ to encode features of points and then employ the inverse kinematics solver and SMPL optimizer to regress the pose through aggregating the temporally encoded features hierarchically. Quantitative and qualitative experiments show that our method outperforms the techniques based only on RGB images. Ablation experiments demonstrate that our dataset is challenging and worthy of further research. Finally, the experiments on the KITTI Dataset and the Waymo Open Dataset show that our method can be generalized to different LiDAR sensor settings.

Key facts. Cited by 32 papers in the map (data through 7 Oct 2026). Builds on 41 of its 71 references that are in the map. First posted on arXiv 28 Mar 2022.

Builds on

41 of 71 references.

References · 41

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  3. 2017Quo Vadis, Action Recognition? A New Model and the Kinetics Datasetcited by 3,259
  4. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  5. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  6. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  7. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,208
  8. 2019KPConv: Flexible and Deformable Convolution for Point Cloudscited by 1,202
  9. 20194D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networkscited by 1,201
  10. 2018Spatial Temporal Graph Convolutional Networks for Skeleton-Based Action Recognitioncited by 1,199
  11. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,186
  12. 2016Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,061
29 more
  1. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  2. 2017End-to-end Recovery of Human Shape and Posecited by 883
  3. 2016Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Imagecited by 692
  4. 2019Learning to Reconstruct 3D Human Pose and Shape via Model-fitting in the Loopcited by 625
  5. 2019VIBE: Video Inference for Human Body Pose and Shape Estimationcited by 615
  6. 2019RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Cloudscited by 584
  7. 2016Monocular 3D Human Pose Estimation In The Wild Using Improved CNN Supervisioncited by 493
  8. 2017Learning from Synthetic Humanscited by 358
  9. 2018Learning 3D Human Dynamics from Videocited by 315
  10. 2018Total Capture: A 3D Deformation Model for Tracking Faces, Hands, and Bodiescited by 239
  11. 2021Spatio-temporal Self-Supervised Representation Learning for 3D Point Cloudscited by 180
  12. 2017PoseTrack: A Benchmark for Human Pose Estimation and Trackingcited by 173
  13. 2020DeepCap: Monocular Human Performance Capture Using Weak Supervisioncited by 162
  14. 2020TailorNet: Predicting Clothing in 3D as a Function of Human Pose, Shape and Garment Stylecited by 148
  15. 2017VNect: Real-time 3D Human Pose Estimation with a Single RGB Cameracited by 129
  16. 2020We are More than Our Joints: Predicting how 3D Bodies Movecited by 115
  17. 2020Monocular Real-Time Volumetric Performance Capturecited by 74
  18. 2019EventCap: Monocular 3D Capture of High-Speed Human Motions using an Event Cameracited by 65
  19. 2020Neural Descent for Visual 3D Human Pose and Shapecited by 60
  20. 2021S3: Neural Shape, Skeleton, and Skinning Fields for 3D Human Modelingcited by 59
  21. 2018Deep Inertial Poser: Learning to Reconstruct Human Pose from Sparse Inertial Measurements in Real Timecited by 47
  22. 20203D Human Shape and Pose from a Single Low-Resolution Image with Self-Supervised Learningcited by 28
  23. 2018PedX: Benchmark Dataset for Metric 3D Pose Estimation of Pedestrians in Complex Urban Intersectionscited by 27
  24. 20213D Human Pose, Shape and Texture from Low-Resolution Images and Videoscited by 26
  25. 2021ChallenCap: Monocular 3D Capture of Challenging Human Performances using Multi-Modal Referencescited by 26
  26. 2021TransPose: Real-time 3D Human Translation and Pose Estimation with Six Inertial Sensorscited by 24
  27. 2018Point-to-Pose Voting based Hand Pose Estimation using Residual Permutation Equivariant Layercited by 21
  28. 2021LatticeNet: Fast Spatio-Temporal Point Cloud Segmentation Using Permutohedral Latticescited by 11
  29. 2020Anchor-Based Spatio-Temporal Attention 3D Convolutional Networks for Dynamic 3D Point Cloud Sequencescited by 9

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 11; 2024: 10; 2025: 4; 2026: 5.

32 papers.

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  1. 2023MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensingcited by 77
  2. 2023SLOPER4D: A Scene-Aware Dataset for Global 4D Human Pose Estimation in Urban Environmentscited by 47
  3. 2022LiDAR-aid Inertial Poser: Large-scale Human Motion Capture by Sparse Inertial and LiDAR Sensorscited by 43
  4. 2023CIMI4D: A Large Multimodal Climbing Motion Dataset under Human-scene Interactionscited by 27
  5. 2022Weakly Supervised 3D Multi-person Pose Estimation for Large-scale Scenes based on Monocular Camera and Single LiDARcited by 23
  6. 2023NICP: Neural ICP for 3D Human Registration at Scalecited by 21
  7. 2023Human-centric Scene Understanding for 3D Large-scale Scenarioscited by 17
  8. 2024RELI11D: A Comprehensive Multimodal Human Motion Dataset and Methodcited by 16
  9. 2023LiDAR-HMR: 3D Human Mesh Recovery from LiDARcited by 12
  10. 2024X-Fi: A Modality-Invariant Foundation Model for Multimodal Human Sensingcited by 12
  11. 2023Human-M3: A Multi-view Multi-modal Dataset for 3D Human Pose Estimation in Outdoor Scenescited by 11
  12. 20233D Human Keypoints Estimation From Point Clouds in the Wild Without Human Labelscited by 9
20 more
  1. 2023PointHPS: Cascaded 3D Human Pose and Shape Estimation from Point Cloudscited by 9
  2. 2023MOVIN: Real-time Motion Capture using a Single LiDARcited by 6
  3. 2024CanFields: Consolidating Diffeomorphic Flows for Non-Rigid 4D Interpolation from Arbitrary-Length Sequencescited by 6
  4. 2024LiveHPS++: Robust and Coherent Motion Capture in Dynamic Free Environmentcited by 6
  5. 2024HiSC4D: Human-centered interaction and 4D Scene Capture in Large-scale Space Using Wearable IMUs and LiDARcited by 5
  6. 2026Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robotscited by 3
  7. 2024HUNTER: Unsupervised Human-centric 3D Detection via Transferring Knowledge from Synthetic Instances to Real Scenescited by 2
  8. 2024Sports Analysis and VR Viewing System Based on Player Tracking and Pose Estimation with Multimodal and Multiview Sensorscited by 2
  9. 2024Towards Practical Human Motion Prediction with LiDAR Point Cloudscited by 2
  10. 2024ReMP: Reusable Motion Prior for Multi-domain 3D Human Pose Estimation and Motion Inbetweeningcited by 2
  11. 2023EVOPOSE: A Recursive Transformer For 3D Human Pose Estimation With Kinematic Structure Priorscited by 1
  12. 2025HoloLLM: Multisensory Foundation Model for Language-Grounded Human Sensing and Reasoningcited by 1
  13. 2025DeSPITE: Exploring Contrastive Deep Skeleton-Pointcloud-IMU-Text Embeddings for Advanced Point Cloud Human Activity Understandingcited by 1
  14. 2025VST-Pose: A Velocity-Integrated Spatiotem-poral Attention Network for Human WiFi Pose Estimationcited by 1
  15. 2024HorGait: A Hybrid Model for Accurate Gait Recognition in LiDAR Point Cloud Planar Projectionscited by 0
  16. 2025Dynamic-Dark SLAM: RGB-Thermal Cooperative Robot Vision Strategy for Multi-Person Tracking in Both Well-Lit and Low-Light Scenescited by 0
  17. 2026SkeFi: Cross-Modal Knowledge Transfer for Wireless Skeleton-Based Action Recognitioncited by 0
  18. 2026Sparkle: A Robust and Versatile Representation for Point Cloud based Human Motion Capturecited by 0
  19. 2026MotionMAR: Multi-scale Auto-Regressive Human Motion Reconstruction from Sparse Observationscited by 0
  20. 2026Sen-Cap: Sensor-Flexible and Noise-Resilient Human Motion Capture via LiDAR-Camera Integrationcited by 0