# STEP: Simultaneous Tracking and Estimation of Pose for Animals and Humans

arXiv: https://arxiv.org/abs/2503.13344 · HTML: https://mlsanity.com/paper/2503.13344/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 55 references that are in the map.
- First posted on arXiv 17 Mar 2025.

## Builds on (most cited first, 30 of 35)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regression](https://mlsanity.com/paper/1902.09630/) (2019)
- [Deep High-Resolution Representation Learning for Human Pose Estimation](https://mlsanity.com/paper/1902.09212/) (2019)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [Segmenter: Transformer for Semantic Segmentation](https://mlsanity.com/paper/2105.05633/) (2021)
- [Exploring Plain Vision Transformer Backbones for Object Detection](https://mlsanity.com/paper/2203.16527/) (2022)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [Simple Baselines for Human Pose Estimation and Tracking](https://mlsanity.com/paper/1804.06208/) (2018)
- [ViTPose: Simple Vision Transformer Baselines for Human Pose Estimation](https://mlsanity.com/paper/2204.12484/) (2022)
- [SiamRPN++: Evolution of Siamese Visual Tracking with Very Deep Networks](https://mlsanity.com/paper/1812.11703/) (2018)
- [Transformer Tracking](https://mlsanity.com/paper/2103.15436/) (2021)
- [Learning Spatio-Temporal Transformer for Visual Tracking](https://mlsanity.com/paper/2103.17154/) (2021)
- [Learning Discriminative Model Prediction for Tracking](https://mlsanity.com/paper/1904.07220/) (2019)
- [Convolutional Pose Machines](https://mlsanity.com/paper/1602.00134/) (2016)
- [DeepPose: Human Pose Estimation via Deep Neural Networks](https://mlsanity.com/paper/1312.4659/) (2013)
- [ATOM: Accurate Tracking by Overlap Maximization](https://mlsanity.com/paper/1811.07628/) (2018)
- [CrowdPose: Efficient Crowded Scenes Pose Estimation and A New Benchmark](https://mlsanity.com/paper/1812.00324/) (2018)
- [Markerless tracking of user-defined features with deep learning](https://mlsanity.com/paper/1804.03142/) (2018)
- [RTMDet: An Empirical Study of Designing Real-Time Object Detectors](https://mlsanity.com/paper/2212.07784/) (2022)
- [SiamFC++: Towards Robust and Accurate Visual Tracking with Target Estimation Guidelines](https://mlsanity.com/paper/1911.06188/) (2019)
- [RTMPose: Real-Time Multi-Person Pose Estimation based on MMPose](https://mlsanity.com/paper/2303.07399/) (2023)
- [TransPose: Keypoint Localization via Transformer](https://mlsanity.com/paper/2012.14214/) (2020)
- [AP-10K: A Benchmark for Animal Pose Estimation in the Wild](https://mlsanity.com/paper/2108.12617/) (2021)
- [DeepCut: Joint Subset Partition and Labeling for Multi Person Pose Estimation](https://mlsanity.com/paper/1511.06645/) (2015)
- [Pose Recognition with Cascade Transformers](https://mlsanity.com/paper/2104.06976/) (2021)
- [DeeperCut: A Deeper, Stronger, and Faster Multi-Person Pose Estimation Model](https://mlsanity.com/paper/1605.03170/) (2016)
- [ViPNAS: Efficient Video Pose Estimation via Neural Architecture Search](https://mlsanity.com/paper/2105.10154/) (2021)

## Built on by (most cited first, 1 of 1)

- [UnCageNet: Tracking and Pose Estimation of Caged Animal](https://mlsanity.com/paper/2512.07712/) (2025)

## Abstract (arXiv)

We introduce STEP, a novel framework utilizing Transformer-based discriminative model prediction for simultaneous tracking and estimation of pose across diverse animal species and humans. We are inspired by the fact that the human brain exploits spatiotemporal continuity and performs concurrent localization and pose estimation despite the specialization of brain areas for form and motion processing. Traditional discriminative models typically require predefined target states for determining model weights, a challenge we address through Gaussian Map Soft Prediction (GMSP) and Offset Map Regression Adapter (OMRA) Modules. These modules remove the necessity of keypoint target states as input, streamlining the process. Our method starts with a known target state in the initial frame of a given video sequence. It then seamlessly tracks the target and estimates keypoints of anatomical importance as output for subsequent frames. Unlike prevalent top-down pose estimation methods, our approach doesn't rely on per-frame target detections due to its tracking capability. This facilitates a significant advancement in inference efficiency and potential applications. We train and validate our approach on datasets encompassing diverse species. Our experiments demonstrate superior results compared to existing methods, opening doors to various applications, including but not limited to action recognition and behavioral analysis.