# Egocentric Whole-Body Motion Capture with FisheyeViT and Diffusion-Based Motion Refinement

arXiv: https://arxiv.org/abs/2311.16495 · HTML: https://mlsanity.com/paper/2311.16495/

## Key facts

- Cited by 31 papers in the map (data through 14 Oct 2026).
- Builds on 46 of its 66 references that are in the map.
- First posted on arXiv 28 Nov 2023.

## Builds on (most cited first, 30 of 46)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [Expressive Body Capture: 3D Hands, Face, and Body from a Single Image](https://mlsanity.com/paper/1904.05866/) (2019)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [GRAB: A Dataset of Whole-Body Human Grasping of Objects](https://mlsanity.com/paper/2008.11200/) (2020)
- [PhysDiff: Physics-Guided Human Motion Diffusion Model](https://mlsanity.com/paper/2212.02500/) (2022)
- [EDGE: Editable Dance Generation From Music](https://mlsanity.com/paper/2211.10658/) (2022)
- [FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Images](https://mlsanity.com/paper/1909.04349/) (2019)
- [Integral Human Pose Regression](https://mlsanity.com/paper/1711.08229/) (2017)
- [FrankMocap: A Monocular 3D Whole-Body Pose Estimation System via Regression and Integration](https://mlsanity.com/paper/2108.06428/) (2021)
- [Monocular Total Capture: Posing Face, Body, and Hands in the Wild](https://mlsanity.com/paper/1812.01598/) (2018)
- [Monocular Expressive Body Regression through Body-Driven Attention](https://mlsanity.com/paper/2008.09062/) (2020)
- [SMPLer-X: Scaling Up Expressive Human Pose and Shape Estimation](https://mlsanity.com/paper/2309.17448/) (2023)
- [EgoBody: Human Body Shape and Motion of Interacting People from Head-Mounted Devices](https://mlsanity.com/paper/2112.07642/) (2021)
- [Collaborative Regression of Expressive Bodies using Moderation](https://mlsanity.com/paper/2105.05301/) (2021)
- [One-Stage 3D Whole-Body Mesh Recovery with Component Aware Transformer](https://mlsanity.com/paper/2303.16160/) (2023)
- [Avatars Grow Legs: Generating Smooth Human Motion from Sparse Tracking Inputs with Diffusion Model](https://mlsanity.com/paper/2304.08577/) (2023)
- [V2V-PoseNet: Voxel-to-Voxel Prediction Network for Accurate 3D Hand and Human Pose Estimation from a Single Depth Map](https://mlsanity.com/paper/1711.07399/) (2017)
- [Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimation](https://mlsanity.com/paper/2106.05969/) (2021)
- [DiffPose: Toward More Reliable 3D Pose Estimation](https://mlsanity.com/paper/2211.16940/) (2022)
- [Ego-Body Pose Estimation via Ego-Head Pose Estimation](https://mlsanity.com/paper/2212.04636/) (2022)
- [Ego-Pose Estimation and Forecasting as Real-Time PD Control](https://mlsanity.com/paper/1906.03173/) (2019)
- [You2Me: Inferring Body Pose in Egocentric Video via First and Second Person Interactions](https://mlsanity.com/paper/1904.09882/) (2019)
- [Diffusion-Based 3D Human Pose Estimation with Multi-Hypothesis Aggregation](https://mlsanity.com/paper/2303.11579/) (2023)
- [Accurate 3D Hand Pose Estimation for Whole-Body 3D Human Mesh Estimation](https://mlsanity.com/paper/2011.11534/) (2020)
- [xR-EgoPose: Egocentric 3D Human Pose from an HMD Camera](https://mlsanity.com/paper/1907.10045/) (2019)
- [Mo2Cap2: Real-time Mobile 3D Motion Capture with a Cap-mounted Fisheye Camera](https://mlsanity.com/paper/1803.05959/) (2018)
- [DiffPose: Multi-hypothesis Human Pose Estimation using Diffusion models](https://mlsanity.com/paper/2211.16487/) (2022)

## Built on by (most cited first, 30 of 31)

- [Estimating Body and Hand Motion in an Ego-sensed World](https://mlsanity.com/paper/2410.03665/) (2024)
- [HMD^2: Environment-aware Motion Generation from Single Egocentric Head-Mounted Device](https://mlsanity.com/paper/2409.13426/) (2024)
- [EgoChoir: Capturing 3D Human-Object Interaction Regions from Egocentric Views](https://mlsanity.com/paper/2405.13659/) (2024)
- [BEDLAM2.0: Synthetic Humans and Cameras in Motion](https://mlsanity.com/paper/2511.14394/) (2025)
- [3D Human Pose Perception from Egocentric Stereo Videos](https://mlsanity.com/paper/2401.00889/) (2023)
- [Challenges and Trends in Egocentric Vision: A Survey](https://mlsanity.com/paper/2503.15275/) (2025)
- [Ego4o: Egocentric Human Motion Capture and Understanding from Multi-Modal Input](https://mlsanity.com/paper/2504.08449/) (2025)
- [The Invisible EgoHand: 3D Hand Forecasting through EgoBody Pose Estimation](https://mlsanity.com/paper/2504.08654/) (2025)
- [REWIND: Real-Time Egocentric Whole-Body Motion Diffusion with Exemplar-Based Identity Conditioning](https://mlsanity.com/paper/2504.04956/) (2025)
- [Reconstructing 4D Spatial Intelligence: A Survey](https://mlsanity.com/paper/2507.21045/) (2025)
- [EMHI: A Multimodal Egocentric Human Motion Dataset with HMD and Body-Worn IMUs](https://mlsanity.com/paper/2408.17168/) (2024)
- [EgoCast: Forecasting Egocentric Human Pose in the Wild](https://mlsanity.com/paper/2412.02903/) (2024)
- [EgoAvatar: Egocentric View-Driven and Photorealistic Full-body Avatars](https://mlsanity.com/paper/2410.01835/) (2024)
- [Perceiving and Acting in First-Person: A Dataset and Benchmark for Egocentric Human-Object-Human Interactions](https://mlsanity.com/paper/2508.04681/) (2025)
- [Bring Your Rear Cameras for Egocentric 3D Human Pose Estimation](https://mlsanity.com/paper/2503.11652/) (2025)
- [EgoReAct: Egocentric Video-Driven 3D Human Reaction Generation](https://mlsanity.com/paper/2512.22808/) (2025)
- [EventEgo3D++: 3D Human Motion Capture from a Head-Mounted Event Camera](https://mlsanity.com/paper/2502.07869/) (2025)
- [ECHO: Ego-Centric modeling of Human-Object interactions](https://mlsanity.com/paper/2508.21556/) (2025)
- [XR-MBT: Multi-modal Full Body Tracking for XR through Self-Supervision with Learned Depth Point Cloud Registration](https://mlsanity.com/paper/2411.18377/) (2024)
- [RealOSR: Latent Guidance Boosts Diffusion-based Real-world Omnidirectional Image Super-Resolutions](https://mlsanity.com/paper/2412.09646/) (2024)
- [Fish2Mesh Transformer: 3D Human Mesh Recovery from Egocentric Vision](https://mlsanity.com/paper/2503.06089/) (2025)
- [EgoMusic-driven Human Dance Motion Estimation with Skeleton Mamba](https://mlsanity.com/paper/2508.10522/) (2025)
- [Prime and Reach: Synthesising Body Motion for Gaze-Primed Object Reach](https://mlsanity.com/paper/2512.16456/) (2025)
- [Egocentric Visibility-Aware Human Pose Estimation](https://mlsanity.com/paper/2602.23618/) (2026)
- [DancingBox: A Lightweight MoCap System for Character Animation from Physical Proxies](https://mlsanity.com/paper/2603.17704/) (2026)
- [E-3DPSM: A State Machine for Event-Based Egocentric 3D Human Pose Estimation](https://mlsanity.com/paper/2604.08543/) (2026)
- [Egocentric Whole-Body Human Mesh Recovery with Prior-Guided Learning](https://mlsanity.com/paper/2605.08606/) (2026)
- [EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices](https://mlsanity.com/paper/2605.16797/) (2026)
- [OmniEgoCap: Camera-Agnostic Sequence-Level Egocentric Motion Reconstruction](https://mlsanity.com/paper/2512.19283/) (2025)
- [AG-EgoPose: Spatially Anchored Residual Correction with Action Context for Monocular Egocentric 3D Pose Estimation](https://mlsanity.com/paper/2603.25175/) (2026)

## Abstract (arXiv)

In this work, we explore egocentric whole-body motion capture using a single fisheye camera, which simultaneously estimates human body and hand motion. This task presents significant challenges due to three factors: the lack of high-quality datasets, fisheye camera distortion, and human body self-occlusion. To address these challenges, we propose a novel approach that leverages FisheyeViT to extract fisheye image features, which are subsequently converted into pixel-aligned 3D heatmap representations for 3D human body pose prediction. For hand tracking, we incorporate dedicated hand detection and hand pose estimation networks for regressing 3D hand poses. Finally, we develop a diffusion-based whole-body motion prior model to refine the estimated whole-body motion while accounting for joint uncertainties. To train these networks, we collect a large synthetic dataset, EgoWholeBody, comprising 840,000 high-quality egocentric images captured across a diverse range of whole-body motion sequences. Quantitative and qualitative evaluations demonstrate the effectiveness of our method in producing high-quality whole-body motion estimates from a single egocentric camera.