# Recognition of Freely Selected Keypoints on Human Limbs

arXiv: https://arxiv.org/abs/2204.06326 · HTML: https://mlsanity.com/paper/2204.06326/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 17 of its 24 references that are in the map.
- First posted on arXiv 13 Apr 2022.

## Builds on (most cited first, 17 of 17)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [Stacked Hourglass Networks for Human Pose Estimation](https://mlsanity.com/paper/1603.06937/) (2016)
- [Panoptic Feature Pyramid Networks](https://mlsanity.com/paper/1901.02446/) (2019)
- [DensePose: Dense Human Pose Estimation In The Wild](https://mlsanity.com/paper/1802.00434/) (2018)
- [Simple Baselines for Human Pose Estimation and Tracking](https://mlsanity.com/paper/1804.06208/) (2018)
- [Distribution-Aware Coordinate Representation for Human Pose Estimation](https://mlsanity.com/paper/1910.06278/) (2019)
- [TokenPose: Learning Keypoint Tokens for Human Pose Estimation](https://mlsanity.com/paper/2104.03516/) (2021)
- [Table Tennis Stroke Recognition Using Two-Dimensional Human Pose Estimation](https://mlsanity.com/paper/2104.09907/) (2021)
- [Toward fast and accurate human pose estimation via soft-gated skip connections](https://mlsanity.com/paper/2002.11098/) (2020)
- [Activity-conditioned continuous human pose estimation for performance analysis of athletes using the example of swimming](https://mlsanity.com/paper/1802.00634/) (2018)
- [Swimmer Stroke Rate Estimation From Overhead Race Video](https://mlsanity.com/paper/2104.12056/) (2021)

## Built on by (most cited first, 5 of 5)

- [All Keypoints You Need: Detecting Arbitrary Keypoints on the Body of Triple, High, and Long Jump Athletes](https://mlsanity.com/paper/2304.02939/) (2023)
- [Detecting Arbitrary Keypoints on Limbs and Skis with Sparse Partly Correct Segmentation Masks](https://mlsanity.com/paper/2211.09446/) (2022)
- [Towards Ball Spin and Trajectory Analysis in Table Tennis Broadcast Videos via Physically Grounded Synthetic-to-Real Transfer](https://mlsanity.com/paper/2504.19863/) (2025)
- [Towards Learning Monocular 3D Object Localization From 2D Labels using the Physical Laws of Motion](https://mlsanity.com/paper/2310.17462/) (2023)
- [Uplifting Table Tennis: A Robust, Real-World Application for 3D Trajectory and Spin Estimation](https://mlsanity.com/paper/2511.20250/) (2025)

## Abstract (arXiv)

Nearly all Human Pose Estimation (HPE) datasets consist of a fixed set of keypoints. Standard HPE models trained on such datasets can only detect these keypoints. If more points are desired, they have to be manually annotated and the model needs to be retrained. Our approach leverages the Vision Transformer architecture to extend the capability of the model to detect arbitrary keypoints on the limbs of persons. We propose two different approaches to encode the desired keypoints. (1) Each keypoint is defined by its position along the line between the two enclosing keypoints from the fixed set and its relative distance between this line and the edge of the limb. (2) Keypoints are defined as coordinates on a norm pose. Both approaches are based on the TokenPose architecture, while the keypoint tokens that correspond to the fixed keypoints are replaced with our novel module. Experiments show that our approaches achieve similar results to TokenPose on the fixed keypoints and are capable of detecting arbitrary keypoints on the limbs.