mlsanityData to 7 Oct 2026

LiDAR-HMR: 3D Human Mesh Recovery from LiDAR

arXiv 2311.11971 ↗First posted 20 Nov 2023cs.CVcited by 12

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Abstract (arXiv)

In recent years, point cloud perception tasks have been garnering increasing attention. This paper presents the first attempt to estimate 3D human body mesh from sparse LiDAR point clouds. We found that the major challenge in estimating human pose and mesh from point clouds lies in the sparsity, noise, and incompletion of LiDAR point clouds. Facing these challenges, we propose an effective sparse-to-dense reconstruction scheme to reconstruct 3D human mesh. This involves estimating a sparse representation of a human (3D human pose) and gradually reconstructing the body mesh. To better leverage the 3D structural information of point clouds, we employ a cascaded graph transformer (graphormer) to introduce point cloud features during sparse-to-dense reconstruction. Experimental results on three publicly available databases demonstrate the effectiveness of the proposed approach. Code: https://github.com/soullessrobot/LiDAR-HMR/

Key facts. Cited by 12 papers in the map (data through 7 Oct 2026). Builds on 39 of its 59 references that are in the map. First posted on arXiv 20 Nov 2023.

Builds on

39 of 59 references.

References · 39

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  3. 2019Expressive Body Capture: 3D Hands, Face, and Body from a Single Imagecited by 1,600
  4. 2018OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,161
  5. 2016Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,061
  6. 2017End-to-end Recovery of Human Shape and Posecited by 883
  7. 2019Learning to Reconstruct 3D Human Pose and Shape via Model-fitting in the Loopcited by 625
  8. 2019VIBE: Video Inference for Human Body Pose and Shape Estimationcited by 615
  9. 2022ViTPose: Simple Vision Transformer Baselines for Human Pose Estimationcited by 450
  10. 2020End-to-End Human Pose and Mesh Reconstruction with Transformerscited by 417
  11. 2022Point Transformer V2: Grouped Vector Attention and Partition-based Poolingcited by 384
  12. 2020HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimationcited by 304
27 more
  1. 2020I2L-MeshNet: Image-to-Lixel Prediction Network for Accurate 3D Human Pose and Mesh Estimation from a Single RGB Imagecited by 274
  2. 2019Convolutional Mesh Regression for Single-Image Human Shape Reconstructioncited by 270
  3. 2021Mesh Graphormercited by 264
  4. 2020Pose2Mesh: Graph Convolutional Network for 3D Human Pose and Mesh Recovery from a 2D Human Posecited by 248
  5. 2018Neural Body Fitting: Unifying Deep Learning and Model-Based Human Pose and Shape Estimationcited by 185
  6. 2020Combining Implicit Function Learning and Parametric Models for 3D Human Reconstructioncited by 133
  7. 2019Camera Distance-aware Top-down Approach for 3D Multi-person Pose Estimation from a Single RGB Imagecited by 131
  8. 2017V2V-PoseNet: Voxel-to-Voxel Prediction Network for Accurate 3D Hand and Human Pose Estimation from a Single Depth Mapcited by 102
  9. 2017Self-supervised Learning of Motion Capturecited by 97
  10. 2019A2J: Anchor-to-Joint Regression Network for 3D Articulated Pose Estimation from a Single Depth Imagecited by 56
  11. 2020SMAP: Single-Shot Multi-Person Absolute 3D Pose Estimationcited by 52
  12. 2019Learning 3D Human Shape and Pose from Dense Body Partscited by 48
  13. 2023SLOPER4D: A Scene-Aware Dataset for Global 4D Human Pose Estimation in Urban Environmentscited by 47
  14. 2019VoteNet: A Deep Learning Label Fusion Method for Multi-Atlas Segmentationcited by 44
  15. 2021Multi-modal 3D Human Pose Estimation with 2D Weak Supervision in Autonomous Drivingcited by 39
  16. 2022LiDARCap: Long-range Marker-less 3D Human Motion Capture with LiDAR Point Cloudscited by 32
  17. 2021DECA: Deep viewpoint-Equivariant human pose estimation using Capsule Autoencoderscited by 23
  18. 2022Weakly Supervised 3D Multi-person Pose Estimation for Large-scale Scenes based on Monocular Camera and Single LiDARcited by 23
  19. 2022HUM3DIL: Semi-supervised Multi-modal 3D Human Pose Estimation for Autonomous Drivingcited by 22
  20. 2021VoteHMR: Occlusion-Aware Voting Network for Robust 3D Human Mesh Recovery from Partial Point Cloudscited by 18
  21. 2021Human Pose and Shape Estimation from Single Polarization Imagescited by 13
  22. 2023Human-M3: A Multi-view Multi-modal Dataset for 3D Human Pose Estimation in Outdoor Scenescited by 11
  23. 20233D Human Keypoints Estimation From Point Clouds in the Wild Without Human Labelscited by 9
  24. 2023LPFormer: LiDAR Pose Estimation Transformer with Multi-Task Networkcited by 9
  25. 2023PointHPS: Cascaded 3D Human Pose and Shape Estimation from Point Cloudscited by 9
  26. 2021Self-supervised 3D Human Mesh Recovery from Noisy Point Cloudscited by 8
  27. 2023A Flexible Multi-view Multi-modal Imaging System for Outdoor Scenescited by 4

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 3; 2025: 3; 2026: 6.

12 papers.

  1. 2025Waymo-3DSkelMo: A Multi-Agent 3D Skeletal Motion Dataset for Pedestrian Interaction Modeling in Autonomous Drivingcited by 5
  2. 2024Pre-training a Density-Aware Pose Transformer for Robust LiDAR-based 3D Human Pose Estimationcited by 4
  3. 2024FreeCap: Hybrid Calibration-Free Motion Capture in Open Environmentscited by 3
  4. 2026Modeling 3D Pedestrian-Vehicle Interactions for Vehicle-Conditioned Pose Forecastingcited by 3
  5. 2024SPiKE: 3D Human Pose from Point Cloud Sequencescited by 2
  6. 2025MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robotscited by 1
  7. 20253D Human Pose and Shape Estimation from LiDAR Point Clouds: A Reviewcited by 0
  8. 2026Learning Human-Object Interaction for 3D Human Pose Estimation from LiDAR Point Cloudscited by 0
  9. 2026Sparkle: A Robust and Versatile Representation for Point Cloud based Human Motion Capturecited by 0
  10. 2026B'ezier Degradation Modeling for LiDAR-based Human Motion Capturecited by 0
  11. 2026Sen-Cap: Sensor-Flexible and Noise-Resilient Human Motion Capture via LiDAR-Camera Integrationcited by 0
  12. 2026TAP3D: Thermal-Assisted 3D Human Point Cloudscited by 0