mlsanityData to 7 Oct 2026

SLOPER4D: A Scene-Aware Dataset for Global 4D Human Pose Estimation in Urban Environments

arXiv 2303.09095 ↗First posted 16 Mar 2023cs.CVcited by 47

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Abstract (arXiv)

We present SLOPER4D, a novel scene-aware dataset collected in large urban environments to facilitate the research of global human pose estimation (GHPE) with human-scene interaction in the wild. Employing a head-mounted device integrated with a LiDAR and camera, we record 12 human subjects' activities over 10 diverse urban scenes from an egocentric view. Frame-wise annotations for 2D key points, 3D pose parameters, and global translations are provided, together with reconstructed scene point clouds. To obtain accurate 3D ground truth in such large dynamic scenes, we propose a joint optimization method to fit local SMPL meshes to the scene and fine-tune the camera calibration during dynamic motions frame by frame, resulting in plausible and scene-natural 3D human poses. Eventually, SLOPER4D consists of 15 sequences of human motions, each of which has a trajectory length of more than 200 meters (up to 1,300 meters) and covers an area of more than 2,000 m2 (up to 13,000 m2), including more than 100K LiDAR frames, 300k video frames, and 500K IMU-based motion frames. With SLOPER4D, we provide a detailed and thorough analysis of two critical tasks, including camera-based 3D HPE and LiDAR-based 3D HPE in urban environments, and benchmark a new task, GHPE. The in-depth analysis demonstrates SLOPER4D poses significant challenges to existing methods and produces great research opportunities. The dataset and code are released at urlhttp://www.lidarhumanmotion.net/sloper4d/

Key facts. Cited by 47 papers in the map (data through 7 Oct 2026). Builds on 32 of its 70 references that are in the map. First posted on arXiv 16 Mar 2023.

Builds on

32 of 70 references.

References · 32

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  2. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,208
  3. 2017Simple Online and Realtime Tracking with a Deep Association Metriccited by 908
  4. 2017End-to-end Recovery of Human Shape and Posecited by 883
  5. 2019Learning to Reconstruct 3D Human Pose and Shape via Model-fitting in the Loopcited by 625
  6. 2019VIBE: Video Inference for Human Body Pose and Shape Estimationcited by 615
  7. 2016Monocular 3D Human Pose Estimation In The Wild Using Improved CNN Supervisioncited by 493
  8. 2018Learning 3D Human Dynamics from Videocited by 315
  9. 2020HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimationcited by 304
  10. 2019Resolving 3D Human Pose Ambiguities with 3D Scene Constraintscited by 294
  11. 2020LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mappingcited by 185
  12. 2022Capturing and Inferring Dense Full-Body Human-Scene Contactcited by 176
20 more
  1. 2017PoseTrack: A Benchmark for Human Pose Estimation and Trackingcited by 173
  2. 2021FAST-LIO2: Fast Direct LiDAR-inertial Odometrycited by 170
  3. 2021GLAMR: Global Occlusion-Aware Human Mesh Recovery with Dynamic Camerascited by 151
  4. 2021Human POSEitioning System (HPS): 3D Human Pose Estimation and Self-localization in Large Scenes from Body-Mounted Sensorscited by 137
  5. 2021EgoBody: Human Body Shape and Motion of Interacting People from Head-Mounted Devicescited by 136
  6. 2020Combining Implicit Function Learning and Parametric Models for 3D Human Reconstructioncited by 133
  7. 2017Sparse Inertial Poser: Automatic 3D Human Pose Estimation from Sparse IMUscited by 108
  8. 2019AtLoc: Attention Guided Camera Localizationcited by 92
  9. 2018VLocNet++: Deep Multitask Learning for Semantic Visual Localization and Odometrycited by 61
  10. 2022MIME: Human-Aware 3D Scene Generationcited by 57
  11. 2022Human-Aware Object Placement for Visual Environment Reconstructioncited by 56
  12. 2020SMAP: Single-Shot Multi-Person Absolute 3D Pose Estimationcited by 52
  13. 2018Deep Inertial Poser: Learning to Reconstruct Human Pose from Sparse Inertial Measurements in Real Timecited by 47
  14. 2021LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mappingcited by 44
  15. 20204D Human Body Capture from Egocentric Video via 3D Scene Groundingcited by 43
  16. 2022HSC4D: Human-centered 4D Scene Capture in Large-scale Indoor-outdoor Space Using Wearable IMUs and LiDARcited by 38
  17. 2022LiDARCap: Long-range Marker-less 3D Human Motion Capture with LiDAR Point Cloudscited by 32
  18. 2019Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoVcited by 27
  19. 2016FlyCap: Markerless Motion Capture Using Multiple Autonomous Flying Camerascited by 23
  20. 2019LIC-Fusion: LiDAR-Inertial-Camera Odometrycited by 19

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 8; 2024: 17; 2025: 12; 2026: 10.

47 papers.

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  1. 2023MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensingcited by 77
  2. 2023Visibility Aware Human-Object Interaction Tracking from Single RGB Cameracited by 58
  3. 2025Visual Imitation Enables Contextual Humanoid Controlcited by 57
  4. 2023NIKI: Neural Inverse Kinematics with Invertible Neural Networks for 3D Human Pose and Shape Estimationcited by 45
  5. 2024CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangementcited by 40
  6. 2025Human3R: Everyone Everywhere All at Oncecited by 35
  7. 2023PACE: Human and Camera Motion Estimation from in-the-wild Videoscited by 33
  8. 2024LaserHuman: Language-guided Scene-aware Human Motion Generation in Free Environmentcited by 33
  9. 2025SMPLest-X: Ultimate Scaling for Expressive Human Pose and Shape Estimationcited by 31
  10. 2023Dynamic Inertial Poser (DynaIP): Part-Based Motion Dynamics Learning for Enhanced Human Pose Estimation with Sparse Inertial Sensorscited by 29
  11. 2025Joint Optimization for 4D Human-Scene Reconstruction in the Wildcited by 29
  12. 2024LiveHPS: LiDAR-based Scene-level Human Pose and Shape Estimation in Free Environmentcited by 20
35 more
  1. 2024Synergistic Global-space Camera and Human Reconstruction from Videoscited by 17
  2. 2024MMVP: A Multimodal MoCap Dataset with Vision and Pressure Sensorscited by 16
  3. 2024RELI11D: A Comprehensive Multimodal Human Motion Dataset and Methodcited by 16
  4. 2024RT-Pose: A 4D Radar Tensor-based 3D Human Pose Estimation and Localization Benchmarkcited by 16
  5. 2025WorldPose: A World Cup Dataset for Global 3D Human Pose Estimationcited by 13
  6. 2023LiDAR-HMR: 3D Human Mesh Recovery from LiDARcited by 12
  7. 2023Human-M3: A Multi-view Multi-modal Dataset for 3D Human Pose Estimation in Outdoor Scenescited by 11
  8. 2024EgoHDM: An Online Egocentric-Inertial Human Motion Capture, Localization, and Dense Mapping Systemcited by 9
  9. 2024Diffusion Models are Efficient Data Generators for Human Mesh Recoverycited by 8
  10. 2025ODHSR: Online Dense 3D Reconstruction of Humans and Scenes from Monocular Videoscited by 8
  11. 2024LiveHPS++: Robust and Coherent Motion Capture in Dynamic Free Environmentcited by 6
  12. 2024Humans as a Calibration Pattern: Dynamic 3D Scene Reconstruction from Unsynchronized and Uncalibrated Videoscited by 6
  13. 20253D Human Interaction Generation: A Surveycited by 6
  14. 2024HiSC4D: Human-centered interaction and 4D Scene Capture in Large-scale Space Using Wearable IMUs and LiDARcited by 5
  15. 2026MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstructioncited by 5
  16. 2024Learning to Generate Diverse Pedestrian Movements from Web Videos with Noisy Labelscited by 4
  17. 2024Pre-training a Density-Aware Pose Transformer for Robust LiDAR-based 3D Human Pose Estimationcited by 4
  18. 2024A Unified Framework for Human-centric Point Cloud Video Understandingcited by 3
  19. 2024Suite-IN: Aggregating Motion Features from Apple Suite for Robust Inertial Navigationcited by 3
  20. 2025ClimbingCap: Multi-Modal Dataset and Method for Rock Climbing in World Coordinatecited by 3
  21. 2024ReMP: Reusable Motion Prior for Multi-domain 3D Human Pose Estimation and Motion Inbetweeningcited by 2
  22. 2023VoxelKP: A Voxel-based Network Architecture for Human Keypoint Estimation in LiDAR Datacited by 1
  23. 2025MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robotscited by 1
  24. 2026BikeActions: An Open Platform and Benchmark for Cyclist-Centric VRU Action Recognitioncited by 1
  25. 2026EmbodMocap: In-the-Wild 4D Human-Scene Reconstruction for Embodied Agentscited by 1
  26. 2026FlashCap: Millisecond-Accurate Human Motion Capture via Flashing LEDs and Event-Based Visioncited by 1
  27. 2025Physics-based Human Pose Estimation from a Single Moving RGB Cameracited by 0
  28. 20253D Human Pose and Shape Estimation from LiDAR Point Clouds: A Reviewcited by 0
  29. 2025Point2Pose: A Generative Framework for 3D Human Pose Estimation with Multi-View Point Cloud Datasetcited by 0
  30. 2026Learning Human-Object Interaction for 3D Human Pose Estimation from LiDAR Point Cloudscited by 0
  31. 2026Sparkle: A Robust and Versatile Representation for Point Cloud based Human Motion Capturecited by 0
  32. 2026UniCon3R: Unified Contact-aware 4D Human-Scene Reconstruction from Monocular Videocited by 0
  33. 2026B'ezier Degradation Modeling for LiDAR-based Human Motion Capturecited by 0
  34. 2026MotionMAR: Multi-scale Auto-Regressive Human Motion Reconstruction from Sparse Observationscited by 0
  35. 2026EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversalcited by 0