# EgoHumans: An Egocentric 3D Multi-Human Benchmark

arXiv: https://arxiv.org/abs/2305.16487 · HTML: https://mlsanity.com/paper/2305.16487/

## Key facts

- Cited by 60 papers in the map (data through 14 Oct 2026).
- Builds on 83 of its 132 references that are in the map.
- First posted on arXiv 25 May 2023.

## Builds on (most cited first, 30 of 83)

- [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)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Fashion-MNIST: a Novel Image Dataset for Benchmarking Machine Learning Algorithms](https://mlsanity.com/paper/1708.07747/) (2017)
- [The Kinetics Human Action Video Dataset](https://mlsanity.com/paper/1705.06950/) (2017)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [Simple Online and Realtime Tracking with a Deep Association Metric](https://mlsanity.com/paper/1703.07402/) (2017)
- [End-to-end Recovery of Human Shape and Pose](https://mlsanity.com/paper/1712.06584/) (2017)
- [Simple Online and Realtime Tracking](https://mlsanity.com/paper/1602.00763/) (2016)
- [On the Convergence of Adam and Beyond](https://mlsanity.com/paper/1904.09237/) (2019)
- [ByteTrack: Multi-Object Tracking by Associating Every Detection Box](https://mlsanity.com/paper/2110.06864/) (2021)
- [Scaling Egocentric Vision: The EPIC-KITCHENS Dataset](https://mlsanity.com/paper/1804.02748/) (2018)
- [Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Image](https://mlsanity.com/paper/1607.08128/) (2016)
- [Performance Measures and a Data Set for Multi-Target, Multi-Camera Tracking](https://mlsanity.com/paper/1609.01775/) (2016)
- [Learning to Reconstruct 3D Human Pose and Shape via Model-fitting in the Loop](https://mlsanity.com/paper/1909.12828/) (2019)
- [VIBE: Video Inference for Human Body Pose and Shape Estimation](https://mlsanity.com/paper/1912.05656/) (2019)
- [HOTA: A Higher Order Metric for Evaluating Multi-Object Tracking](https://mlsanity.com/paper/2009.07736/) (2020)
- [Rescaling Egocentric Vision](https://mlsanity.com/paper/2006.13256/) (2020)
- [Monocular 3D Human Pose Estimation In The Wild Using Improved CNN Supervision](https://mlsanity.com/paper/1611.09813/) (2016)
- [FairMOT: On the Fairness of Detection and Re-Identification in Multiple Object Tracking](https://mlsanity.com/paper/2004.01888/) (2020)
- [AI Choreographer: Music Conditioned 3D Dance Generation with AIST++](https://mlsanity.com/paper/2101.08779/) (2021)
- [Tracking Objects as Points](https://mlsanity.com/paper/2004.01177/) (2020)

## Built on by (most cited first, 30 of 60)

- [Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectives](https://mlsanity.com/paper/2311.18259/) (2023)
- [Generative Camera Dolly: Extreme Monocular Dynamic Novel View Synthesis](https://mlsanity.com/paper/2405.14868/) (2024)
- [Nymeria: A Massive Collection of Multimodal Egocentric Daily Motion in the Wild](https://mlsanity.com/paper/2406.09905/) (2024)
- [An Outlook into the Future of Egocentric Vision](https://mlsanity.com/paper/2308.07123/) (2023)
- [SAM 3D Body: Robust Full-Body Human Mesh Recovery](https://mlsanity.com/paper/2602.15989/) (2026)
- [Neural Localizer Fields for Continuous 3D Human Pose and Shape Estimation](https://mlsanity.com/paper/2407.07532/) (2024)
- [EgoExo-Fitness: Towards Egocentric and Exocentric Full-Body Action Understanding](https://mlsanity.com/paper/2406.08877/) (2024)
- [Harmony4D: A Video Dataset for In-The-Wild Close Human Interactions](https://mlsanity.com/paper/2410.20294/) (2024)
- [Reconstructing People, Places, and Cameras](https://mlsanity.com/paper/2412.17806/) (2024)
- [EventEgo3D: 3D Human Motion Capture from Egocentric Event Streams](https://mlsanity.com/paper/2404.08640/) (2024)
- [Spatial Cognition from Egocentric Video: Out of Sight, Not Out of Mind](https://mlsanity.com/paper/2404.05072/) (2024)
- [3D Human Pose Perception from Egocentric Stereo Videos](https://mlsanity.com/paper/2401.00889/) (2023)
- [FinePOSE: Fine-Grained Prompt-Driven 3D Human Pose Estimation via Diffusion Models](https://mlsanity.com/paper/2405.05216/) (2024)
- [TEMPO: Efficient Multi-View Pose Estimation, Tracking, and Forecasting](https://mlsanity.com/paper/2309.07910/) (2023)
- [The Invisible EgoHand: 3D Hand Forecasting through EgoBody Pose Estimation](https://mlsanity.com/paper/2504.08654/) (2025)
- [Seeing from Another Perspective: Evaluating Multi-View Understanding in MLLMs](https://mlsanity.com/paper/2504.15280/) (2025)
- [EgoSim: An Egocentric Multi-view Simulator and Real Dataset for Body-worn Cameras during Motion and Activity](https://mlsanity.com/paper/2502.18373/) (2025)
- [HERO: Human Reaction Generation from Videos](https://mlsanity.com/paper/2503.08270/) (2025)
- [HAMSt3R: Human-Aware Multi-view Stereo 3D Reconstruction](https://mlsanity.com/paper/2508.16433/) (2025)
- [OPENTOUCH: Bringing Full-Hand Touch to Real-World Interaction](https://mlsanity.com/paper/2512.16842/) (2025)
- [WorldPose: A World Cup Dataset for Global 3D Human Pose Estimation](https://mlsanity.com/paper/2501.02771/) (2025)
- [CoMotion: Concurrent Multi-person 3D Motion](https://mlsanity.com/paper/2504.12186/) (2025)
- [Exo2EgoDVC: Dense Video Captioning of Egocentric Procedural Activities Using Web Instructional Videos](https://mlsanity.com/paper/2311.16444/) (2023)
- [DivaTrack: Diverse Bodies and Motions from Acceleration-Enhanced Three-Point Trackers](https://mlsanity.com/paper/2402.09211/) (2024)
- [EgoPoints: Advancing Point Tracking for Egocentric Videos](https://mlsanity.com/paper/2412.04592/) (2024)
- [GPT4Ego: Unleashing the Potential of Pre-trained Models for Zero-Shot Egocentric Action Recognition](https://mlsanity.com/paper/2401.10039/) (2024)
- [Bridging Perspectives: A Survey on Cross-view Collaborative Intelligence with Egocentric-Exocentric Vision](https://mlsanity.com/paper/2506.06253/) (2025)
- [Bring Your Rear Cameras for Egocentric 3D Human Pose Estimation](https://mlsanity.com/paper/2503.11652/) (2025)
- [Human Pose-based Estimation, Tracking and Action Recognition with Deep Learning: A Survey](https://mlsanity.com/paper/2310.13039/) (2023)
- [EventEgo3D++: 3D Human Motion Capture from a Head-Mounted Event Camera](https://mlsanity.com/paper/2502.07869/) (2025)

## Abstract (arXiv)

We present EgoHumans, a new multi-view multi-human video benchmark to advance the state-of-the-art of egocentric human 3D pose estimation and tracking. Existing egocentric benchmarks either capture single subject or indoor-only scenarios, which limit the generalization of computer vision algorithms for real-world applications. We propose a novel 3D capture setup to construct a comprehensive egocentric multi-human benchmark in the wild with annotations to support diverse tasks such as human detection, tracking, 2D/3D pose estimation, and mesh recovery. We leverage consumer-grade wearable camera-equipped glasses for the egocentric view, which enables us to capture dynamic activities like playing tennis, fencing, volleyball, etc. Furthermore, our multi-view setup generates accurate 3D ground truth even under severe or complete occlusion. The dataset consists of more than 125k egocentric images, spanning diverse scenes with a particular focus on challenging and unchoreographed multi-human activities and fast-moving egocentric views. We rigorously evaluate existing state-of-the-art methods and highlight their limitations in the egocentric scenario, specifically on multi-human tracking. To address such limitations, we propose EgoFormer, a novel approach with a multi-stream transformer architecture and explicit 3D spatial reasoning to estimate and track the human pose. EgoFormer significantly outperforms prior art by 13.6% IDF1 on the EgoHumans dataset.