# ClimbingCap: Multi-Modal Dataset and Method for Rock Climbing in World Coordinate

arXiv: https://arxiv.org/abs/2503.21268 · HTML: https://mlsanity.com/paper/2503.21268/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 53 of its 88 references that are in the map.
- First posted on arXiv 27 Mar 2025.

## Builds on (most cited first, 30 of 53)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Expressive Body Capture: 3D Hands, Face, and Body from a Single Image](https://mlsanity.com/paper/1904.05866/) (2019)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1611.08050/) (2016)
- [End-to-end Recovery of Human Shape and Pose](https://mlsanity.com/paper/1712.06584/) (2017)
- [PIFu: Pixel-Aligned Implicit Function for High-Resolution Clothed Human Digitization](https://mlsanity.com/paper/1905.05172/) (2019)
- [Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Image](https://mlsanity.com/paper/1607.08128/) (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)
- [PIFuHD: Multi-Level Pixel-Aligned Implicit Function for High-Resolution 3D Human Digitization](https://mlsanity.com/paper/2004.00452/) (2020)
- [A simple yet effective baseline for 3d human pose estimation](https://mlsanity.com/paper/1705.03098/) (2017)
- [Humans in 4D: Reconstructing and Tracking Humans with Transformers](https://mlsanity.com/paper/2305.20091/) (2023)
- [PARE: Part Attention Regressor for 3D Human Body Estimation](https://mlsanity.com/paper/2104.08527/) (2021)
- [HuMoR: 3D Human Motion Model for Robust Pose Estimation](https://mlsanity.com/paper/2105.04668/) (2021)
- [ICON: Implicit Clothed humans Obtained from Normals](https://mlsanity.com/paper/2112.09127/) (2021)
- [BEHAVE: Dataset and Method for Tracking Human Object Interactions](https://mlsanity.com/paper/2204.06950/) (2022)
- [CLIFF: Carrying Location Information in Full Frames into Human Pose and Shape Estimation](https://mlsanity.com/paper/2208.00571/) (2022)
- [BEDLAM: A Synthetic Dataset of Bodies Exhibiting Detailed Lifelike Animated Motion](https://mlsanity.com/paper/2306.16940/) (2023)
- [Monocular, One-stage, Regression of Multiple 3D People](https://mlsanity.com/paper/2008.12272/) (2020)
- [WHAM: Reconstructing World-grounded Humans with Accurate 3D Motion](https://mlsanity.com/paper/2312.07531/) (2023)
- [AGORA: Avatars in Geography Optimized for Regression Analysis](https://mlsanity.com/paper/2104.14643/) (2021)
- [Capturing and Inferring Dense Full-Body Human-Scene Contact](https://mlsanity.com/paper/2206.09553/) (2022)
- [DeepCap: Monocular Human Performance Capture Using Weak Supervision](https://mlsanity.com/paper/2003.08325/) (2020)
- [GLAMR: Global Occlusion-Aware Human Mesh Recovery with Dynamic Cameras](https://mlsanity.com/paper/2112.01524/) (2021)
- [TailorNet: Predicting Clothing in 3D as a Function of Human Pose, Shape and Garment Style](https://mlsanity.com/paper/2003.04583/) (2020)
- [Physical Inertial Poser (PIP): Physics-aware Real-time Human Motion Tracking from Sparse Inertial Sensors](https://mlsanity.com/paper/2203.08528/) (2022)
- [Putting People in their Place: Monocular Regression of 3D People in Depth](https://mlsanity.com/paper/2112.08274/) (2021)
- [Decoupling Human and Camera Motion from Videos in the Wild](https://mlsanity.com/paper/2302.12827/) (2023)
- [World-Grounded Human Motion Recovery via Gravity-View Coordinates](https://mlsanity.com/paper/2409.06662/) (2024)

## Built on by (most cited first, 3 of 3)

- [Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robots](https://mlsanity.com/paper/2603.06181/) (2026)
- [FlashCap: Millisecond-Accurate Human Motion Capture via Flashing LEDs and Event-Based Vision](https://mlsanity.com/paper/2603.19770/) (2026)
- [MotionMAR: Multi-scale Auto-Regressive Human Motion Reconstruction from Sparse Observations](https://mlsanity.com/paper/2606.23000/) (2026)

## Abstract (arXiv)

Human Motion Recovery (HMR) research mainly focuses on ground-based motions such as running. The study on capturing climbing motion, an off-ground motion, is sparse. This is partly due to the limited availability of climbing motion datasets, especially large-scale and challenging 3D labeled datasets. To address the insufficiency of climbing motion datasets, we collect AscendMotion, a large-scale well-annotated, and challenging climbing motion dataset. It consists of 412k RGB, LiDAR frames, and IMU measurements, including the challenging climbing motions of 22 skilled climbing coaches across 12 different rock walls. Capturing the climbing motions is challenging as it requires precise recovery of not only the complex pose but also the global position of climbers. Although multiple global HMR methods have been proposed, they cannot faithfully capture climbing motions. To address the limitations of HMR methods for climbing, we propose ClimbingCap, a motion recovery method that reconstructs continuous 3D human climbing motion in a global coordinate system. One key insight is to use the RGB and LiDAR modalities to separately reconstruct motions in camera coordinates and global coordinates and to optimize them jointly. We demonstrate the quality of the AscendMotion dataset and present promising results from ClimbingCap. The AscendMotion dataset and source code release publicly at hrefthis linkhttp://www.lidarhumanmotion.net/climbingcap/