mlsanityData to 14 Oct 2026

GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild

arXiv 2309.10369 ↗First posted 19 Sep 2023cs.CV cs.ROcited by 5

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Abstract (arXiv)

An accurate and uncertainty-aware 3D human body pose estimation is key to enabling truly safe but efficient human-robot interactions. Current uncertainty-aware methods in 3D human pose estimation are limited to predicting the uncertainty of the body posture, while effectively neglecting the body shape and root pose. In this work, we present GloPro, which to the best of our knowledge the first framework to predict an uncertainty distribution of a 3D body mesh including its shape, pose, and root pose, by efficiently fusing visual clues with a learned motion model. We demonstrate that it vastly outperforms state-of-the-art methods in terms of human trajectory accuracy in a world coordinate system (even in the presence of severe occlusions), yields consistent uncertainty distributions, and can run in real-time.

Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Builds on 31 of its 44 references that are in the map. First posted on arXiv 19 Sep 2023.

Builds on

31 of 44 references.

References · 31

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2019Expressive Body Capture: 3D Hands, Face, and Body from a Single Imagecited by 1,612
  4. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,236
  5. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
  6. 2016Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,064
  7. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 988
  8. 2017End-to-end Recovery of Human Shape and Posecited by 885
  9. 2019Learning to Reconstruct 3D Human Pose and Shape via Model-fitting in the Loopcited by 627
  10. 2019VIBE: Video Inference for Human Body Pose and Shape Estimationcited by 620
  11. 20183D human pose estimation in video with temporal convolutions and semi-supervised trainingcited by 403
  12. 2021PARE: Part Attention Regressor for 3D Human Body Estimationcited by 337
19 more
  1. 2021HuMoR: 3D Human Motion Model for Robust Pose Estimationcited by 324
  2. 2018Learning 3D Human Dynamics from Videocited by 316
  3. 2018Learning to Estimate 3D Human Pose and Shape from a Single Color Imagecited by 226
  4. 2016Coarse-to-Fine Volumetric Prediction for Single-Image 3D Human Posecited by 221
  5. 2021Character Controllers Using Motion VAEscited by 184
  6. 2021Probabilistic Modeling for Human Mesh Recoverycited by 153
  7. 2021GLAMR: Global Occlusion-Aware Human Mesh Recovery with Dynamic Camerascited by 153
  8. 2020Coherent Reconstruction of Multiple Humans from a Single Imagecited by 136
  9. 2020We are More than Our Joints: Predicting how 3D Bodies Movecited by 115
  10. 2018Human Motion Prediction via Spatio-Temporal Inpaintingcited by 114
  11. 2019Exploiting temporal context for 3D human pose estimation in the wildcited by 110
  12. 2019Generating Multiple Hypotheses for 3D Human Pose Estimation with Mixture Density Networkcited by 92
  13. 2019Human Mesh Recovery from Monocular Images via a Skeleton-disentangled Representationcited by 87
  14. 2021Probabilistic 3D Human Shape and Pose Estimation from Multiple Unconstrained Images in the Wildcited by 40
  15. 2020Full-Body Awareness from Partial Observationscited by 29
  16. 2022OKVIS2: Realtime Scalable Visual-Inertial SLAM with Loop Closurecited by 29
  17. 2021KAMA: 3D Keypoint Aware Body Mesh Articulationcited by 27
  18. 2022BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Trackingcited by 24
  19. 2020PCLs: Geometry-aware Neural Reconstruction of 3D Pose with Perspective Crop Layerscited by 16

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 1; 2025: 1; 2026: 2.

5 papers.

  1. 2023WHAM: Reconstructing World-grounded Humans with Accurate 3D Motioncited by 206
  2. 2024Dual-Branch Graph Transformer Network for 3D Human Mesh Reconstruction from Videocited by 1
  3. 2026LAMP: Localization Aware Multi-camera People Tracking in Metric 3D Worldcited by 1
  4. 2025VirtualFencer: Generating Fencing Bouts based on Strategies Extracted from In-the-Wild Videoscited by 0
  5. 2026Vision-Based Safe Human-Robot Collaboration with Uncertainty Guaranteescited by 0