mlsanityData to 7 Oct 2026

BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking

arXiv 2205.02301 ↗First posted 4 May 2022cs.CV cs.ROcited by 23

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Abstract (arXiv)

Estimating human motion from video is an active research area due to its many potential applications. Most state-of-the-art methods predict human shape and posture estimates for individual images and do not leverage the temporal information available in video. Many "in the wild" sequences of human motion are captured by a moving camera, which adds the complication of conflated camera and human motion to the estimation. We therefore present BodySLAM, a monocular SLAM system that jointly estimates the position, shape, and posture of human bodies, as well as the camera trajectory. We also introduce a novel human motion model to constrain sequential body postures and observe the scale of the scene. Through a series of experiments on video sequences of human motion captured by a moving monocular camera, we demonstrate that BodySLAM improves estimates of all human body parameters and camera poses when compared to estimating these separately.

Key facts. Cited by 23 papers in the map (data through 7 Oct 2026). Builds on 37 of its 64 references that are in the map. First posted on arXiv 4 May 2022.

Builds on

37 of 64 references.

References · 37

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2019Expressive Body Capture: 3D Hands, Face, and Body from a Single Imagecited by 1,600
  3. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,208
  4. 2016Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,061
  5. 2017End-to-end Recovery of Human Shape and Posecited by 883
  6. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  7. 2016Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Imagecited by 692
  8. 2019Learning to Reconstruct 3D Human Pose and Shape via Model-fitting in the Loopcited by 625
  9. 2019VIBE: Video Inference for Human Body Pose and Shape Estimationcited by 615
  10. 2020TartanAir: A Dataset to Push the Limits of Visual SLAMcited by 494
  11. 2016Monocular 3D Human Pose Estimation In The Wild Using Improved CNN Supervisioncited by 493
  12. 2017A simple yet effective baseline for 3d human pose estimationcited by 401
25 more
  1. 20183D human pose estimation in video with temporal convolutions and semi-supervised trainingcited by 401
  2. 2016RMPE: Regional Multi-person Pose Estimationcited by 340
  3. 2021HuMoR: 3D Human Motion Model for Robust Pose Estimationcited by 319
  4. 2018Learning 3D Human Dynamics from Videocited by 315
  5. 2016Coarse-to-Fine Volumetric Prediction for Single-Image 3D Human Posecited by 220
  6. 2020STAR: Sparse Trained Articulated Human Body Regressorcited by 194
  7. 2021Character Controllers Using Motion VAEscited by 182
  8. 2021SPEC: Seeing People in the Wild with an Estimated Cameracited by 134
  9. 2018DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenescited by 130
  10. 2019Learning the Depths of Moving People by Watching Frozen Peoplecited by 120
  11. 2019Exploiting temporal context for 3D human pose estimation in the wildcited by 110
  12. 2018Ordinal Depth Supervision for 3D Human Pose Estimationcited by 107
  13. 2018MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objectscited by 95
  14. 2017Towards Accurate Markerless Human Shape and Pose Estimation over Timecited by 92
  15. 2018Learning to Detect and Track Visible and Occluded Body Joints in a Virtual Worldcited by 81
  16. 2018MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAMcited by 65
  17. 2019In the Wild Human Pose Estimation Using Explicit 2D Features and Intermediate 3D Representationscited by 48
  18. 2017Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objectscited by 47
  19. 2020Dynamic SLAM: The Need For Speedcited by 24
  20. 2017Driven to Distraction: Self-Supervised Distractor Learning for Robust Monocular Visual Odometry in Urban Environmentscited by 22
  21. 2019Robust Dense Mapping for Large-Scale Dynamic Environmentscited by 21
  22. 2021AirDOS: Dynamic SLAM benefits from Articulated Objectscited by 21
  23. 2016A Simple, Fast and Highly-Accurate Algorithm to Recover 3D Shape from 2D Landmarks on a Single Imagecited by 8
  24. 2018Multimotion Visual Odometry (MVO): Simultaneous Estimation of Camera and Third-Party Motionscited by 8
  25. 2021Towards Real-time Semantic RGB-D SLAM in Dynamic Environmentscited by 6

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 7; 2024: 6; 2025: 5; 2026: 3.

23 papers.

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  1. 2023Decoupling Human and Camera Motion from Videos in the Wildcited by 140
  2. 2024TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videoscited by 105
  3. 2025PromptHMR: Promptable Human Mesh Recoverycited by 70
  4. 2023EgoLocate: Real-time Motion Capture, Localization, and Mapping with Sparse Body-mounted Sensorscited by 48
  5. 2023PACE: Human and Camera Motion Estimation from in-the-wild Videoscited by 33
  6. 2024DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulationcited by 32
  7. 2023Scene-Aware 3D Multi-Human Motion Capture from a Single Cameracited by 19
  8. 2024Synergistic Global-space Camera and Human Reconstruction from Videoscited by 17
  9. 2024COIN: Control-Inpainting Diffusion Prior for Human and Camera Motion Estimationcited by 15
  10. 2025WorldPose: A World Cup Dataset for Global 3D Human Pose Estimationcited by 13
  11. 2023Cinematic Behavior Transfer via NeRF-based Differentiable Filmingcited by 12
  12. 2024PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environmentscited by 11
11 more
  1. 2022SmartMocap: Joint Estimation of Human and Camera Motion using Uncalibrated RGB Camerascited by 8
  2. 2022Online Marker-free Extrinsic Camera Calibration using Person Keypoint Detectionscited by 6
  3. 2023BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Trackingcited by 6
  4. 2023GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wildcited by 5
  5. 2026Dream-SLAM: Dreaming the Unseen for Active SLAM in Dynamic Environmentscited by 3
  6. 2024Humans as Checkerboards: Calibrating Camera Motion Scale for World-Coordinate Human Mesh Recoverycited by 2
  7. 2025Physics-based Human Pose Estimation from a Single Moving RGB Cameracited by 0
  8. 2025Unifying Scale-Aware Depth Prediction and Perceptual Priors for Monocular Endoscope Pose Estimation and Tissue Reconstructioncited by 0
  9. 2025Improving Human Motion Plausibility with Body Momentumcited by 0
  10. 2026EgoExoMoCap: Distributed Ego-Exo Human Motion Capturecited by 0
  11. 2026A Review Of Robotic World Models For Dynamic Environments Based On Factor And Scene Graphscited by 0