mlsanityData to 14 Oct 2026

IMUPoser: Full-Body Pose Estimation using IMUs in Phones, Watches, and Earbuds

arXiv 2304.12518 ↗First posted 25 Apr 2023cs.HC cs.CVcited by 54

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Abstract (arXiv)

Tracking body pose on-the-go could have powerful uses in fitness, mobile gaming, context-aware virtual assistants, and rehabilitation. However, users are unlikely to buy and wear special suits or sensor arrays to achieve this end. Instead, in this work, we explore the feasibility of estimating body pose using IMUs already in devices that many users own -- namely smartphones, smartwatches, and earbuds. This approach has several challenges, including noisy data from low-cost commodity IMUs, and the fact that the number of instrumentation points on a users body is both sparse and in flux. Our pipeline receives whatever subset of IMU data is available, potentially from just a single device, and produces a best-guess pose. To evaluate our model, we created the IMUPoser Dataset, collected from 10 participants wearing or holding off-the-shelf consumer devices and across a variety of activity contexts. We provide a comprehensive evaluation of our system, benchmarking it on both our own and existing IMU datasets.

Key facts. Cited by 54 papers in the map (data through 14 Oct 2026). Builds on 17 of its 67 references that are in the map. First posted on arXiv 25 Apr 2023.

Builds on

17 of 67 references.

References · 17

  1. 2019Expressive Body Capture: 3D Hands, Face, and Body from a Single Imagecited by 1,612
  2. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,236
  3. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
  4. 2018OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,162
  5. 2016Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,064
  6. 2022Physical Inertial Poser (PIP): Physics-aware Real-time Human Motion Tracking from Sparse Inertial Sensorscited by 146
  7. 2018PersonLab: Person Pose Estimation and Instance Segmentation with a Bottom-Up, Part-Based, Geometric Embedding Modelcited by 133
  8. 2017VNect: Real-time 3D Human Pose Estimation with a Single RGB Cameracited by 129
  9. 2022AvatarPoser: Articulated Full-Body Pose Tracking from Sparse Motion Sensingcited by 110
  10. 2017Sparse Inertial Poser: Automatic 3D Human Pose Estimation from Sparse IMUscited by 109
  11. 2019You2Me: Inferring Body Pose in Egocentric Video via First and Second Person Interactionscited by 82
  12. 2022Transformer Inertial Poser: Real-time Human Motion Reconstruction from Sparse IMUs with Simultaneous Terrain Generationcited by 76
5 more
  1. 2020Socially and Contextually Aware Human Motion and Pose Forecastingcited by 51
  2. 2018Deep Inertial Poser: Learning to Reconstruct Human Pose from Sparse Inertial Measurements in Real Timecited by 47
  3. 20183D Human Pose Estimation in RGBD Images for Robotic Task Learningcited by 33
  4. 2020A review of 3D human pose estimation algorithms for markerless motion capturecited by 24
  5. 2022A survey of top-down approaches for human pose estimationcited by 3

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 3; 2024: 13; 2025: 24; 2026: 14.

54 papers.

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  1. 2024Nymeria: A Massive Collection of Multimodal Egocentric Daily Motion in the Wildcited by 114
  2. 2023EgoPoser: Robust Real-Time Egocentric Pose Estimation from Sparse and Intermittent Observations Everywherecited by 34
  3. 2023DiffusionPoser: Real-time Human Motion Reconstruction From Arbitrary Sparse Sensors Using Autoregressive Diffusioncited by 31
  4. 2023Dynamic Inertial Poser (DynaIP): Part-Based Motion Dynamics Learning for Enhanced Human Pose Estimation with Sparse Inertial Sensorscited by 30
  5. 2024EgoLM: Multi-Modal Language Model of Egocentric Motionscited by 28
  6. 2025MobilePoser: Real-Time Full-Body Pose Estimation and 3D Human Translation from IMUs in Mobile Consumer Devicescited by 23
  7. 2024Ultra Inertial Poser: Scalable Motion Capture and Tracking from Sparse Inertial Sensors and Ultra-Wideband Rangingcited by 18
  8. 2025Ego4o: Egocentric Human Motion Capture and Understanding from Multi-Modal Inputcited by 17
  9. 2024DivaTrack: Diverse Bodies and Motions from Acceleration-Enhanced Three-Point Trackerscited by 11
  10. 2025From Sparse Signal to Smooth Motion: Real-Time Motion Generation with Rolling Prediction Modelscited by 11
  11. 2025XRF V2: A Dataset for Action Summarization with Wi-Fi Signals, and IMUs in Phones, Watches, Earbuds, and Glassescited by 9
  12. 2025Transformer IMU Calibrator: Dynamic On-body IMU Calibration for Inertial Motion Capturecited by 7
38 more
  1. 2025Can LLMs Understand Unvoiced Speech? Exploring EMG-to-Text Conversion with LLMscited by 6
  2. 2024SUPER: Seated Upper Body Pose Estimation using mmWave Radarscited by 5
  3. 2024WheelPoser: Sparse-IMU Based Body Pose Estimation for Wheelchair Userscited by 5
  4. 2025FRAME: Floor-aligned Representation for Avatar Motion from Egocentric Videocited by 5
  5. 2025UMotion: Uncertainty-driven Human Motion Estimation from Inertial and Ultra-wideband Unitscited by 5
  6. 2025Human Motion Capture from Loose and Sparse Inertial Sensors with Garment-aware Diffusion Modelscited by 5
  7. 2025ECHO: Ego-Centric modeling of Human-Object interactionscited by 5
  8. 2024A Survey of IMU Based Cross-Modal Transfer Learning in Human Activity Recognitioncited by 4
  9. 2025Progressive Inertial Poser: Progressive Real-Time Kinematic Chain Estimation for 3D Full-Body Pose from Three IMU Sensorscited by 4
  10. 2025SmartPoser: Arm Pose Estimation with a Smartphone and Smartwatch Using UWB and IMU Datacited by 4
  11. 2024SeamPose: Repurposing Seams as Capacitive Sensors in a Shirt for Upper-Body Pose Trackingcited by 3
  12. 2024Suite-IN: Aggregating Motion Features from Apple Suite for Robust Inertial Navigationcited by 3
  13. 2025IMUCoCo: Enabling Flexible On-Body IMU Placement for Human Pose Estimation and Activity Recognitioncited by 3
  14. 2025BaroPoser: Real-time Human Motion Tracking from IMUs and Barometers in Everyday Devicescited by 3
  15. 2025Group Inertial Poser: Multi-Person Pose and Global Translation from Sparse Inertial Sensors and Ultra-Wideband Rangingcited by 3
  16. 2024IMUOptimize: A Data-Driven Approach to Optimal IMU Placement for Human Pose Estimation with Transformer Architecturecited by 2
  17. 2024C3T: Cross-modal Transfer Through Time for Sensor-based Human Activity Recognitioncited by 2
  18. 2025MagShield: Towards Better Robustness in Sparse Inertial Motion Capture Under Magnetic Disturbancescited by 2
  19. 2025SlotFM: A Motion Foundation Model with Slot Attention for Diverse Downstream Taskscited by 2
  20. 2026Ground Reaction Inertial Poser: Physics-based Human Motion Capture from Sparse IMUs and Insole Pressure Sensorscited by 2
  21. 2026Seeing Without Eyes: 4D Human-Scene Understanding from Wearable IMUscited by 2
  22. 2026Towards Real-World Wearable Motion Reconstructioncited by 1
  23. 2026EgoExoMoCap: Distributed Ego-Exo Human Motion Capturecited by 1
  24. 2024SuDA: Support-based Domain Adaptation for Sim2Real Motion Capture with Flexible Sensorscited by 0
  25. 2024PoseAugment: Generative Human Pose Data Augmentation with Physical Plausibility for IMU-based Motion Capturecited by 0
  26. 2025Suite-IN++: A FlexiWear BodyNet Integrating Global and Local Motion Features from Apple Suite for Robust Inertial Navigationcited by 0
  27. 2025Generating Fit Check Videos with a Handheld Cameracited by 0
  28. 2025From Neck to Head: Bio-Impedance Sensing for Head Pose Estimationcited by 0
  29. 2025ChairPose: Pressure-based Chair Morphology Grounded Sitting Pose Estimation through Simulation-Assisted Trainingcited by 0
  30. 2025Zero-shot Human Pose Estimation using Diffusion-based Inverse solverscited by 0
  31. 2025VersaPants: A Loose-Fitting Textile Capacitive Sensing System for Lower-Body Motion Capturecited by 0
  32. 2025Human Motion Estimation with Everyday Wearablescited by 0
  33. 2026Fine-grained Soundscape Control for Augmented Hearingcited by 0
  34. 2026AccLock: Unlocking Identity with Heartbeat Using In-Ear Accelerometerscited by 0
  35. 2026Ultra Diffusion Poser: Diffusion-Based Human Motion Tracking From Sparse Inertial Sensors and Ranging-Based Between-Sensor Distancescited by 0
  36. 2026MARIO: Motion-Augmented Real-Time Multi-Sensor Inertial Odometrycited by 0
  37. 2026IMU-HOI: A Symbiotic Framework for Coherent Human-Object Interaction and Motion Capture via Contact-Conscious Inertial Fusioncited by 0
  38. 2026ArmPoser: Real-Time, Calibration-Free Arm Pose Estimation from Smartwatch IMUcited by 0

50 most cited of 54 All 54 (JSON)