# JRDB-Pose3D: A Multi-person 3D Human Pose and Shape Estimation Dataset for Robotics

arXiv: https://arxiv.org/abs/2602.03064 · HTML: https://mlsanity.com/paper/2602.03064/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 19 of its 32 references that are in the map.
- First posted on arXiv 3 Feb 2026.

## Builds on (most cited first, 19 of 19)

- [NTU RGB+D 120: A Large-Scale Benchmark for 3D Human Activity Understanding](https://mlsanity.com/paper/1905.04757/) (2019)
- [Monocular 3D Human Pose Estimation In The Wild Using Improved CNN Supervision](https://mlsanity.com/paper/1611.09813/) (2016)
- [Resolving 3D Human Pose Ambiguities with 3D Scene Constraints](https://mlsanity.com/paper/1908.06963/) (2019)
- [AGORA: Avatars in Geography Optimized for Regression Analysis](https://mlsanity.com/paper/2104.14643/) (2021)
- [Single-Shot Multi-Person 3D Pose Estimation From Monocular RGB](https://mlsanity.com/paper/1712.03453/) (2017)
- [Capturing and Inferring Dense Full-Body Human-Scene Contact](https://mlsanity.com/paper/2206.09553/) (2022)
- [Panoptic Studio: A Massively Multiview System for Social Interaction Capture](https://mlsanity.com/paper/1612.03153/) (2016)
- [EgoBody: Human Body Shape and Motion of Interacting People from Head-Mounted Devices](https://mlsanity.com/paper/2112.07642/) (2021)
- [Learning to Detect and Track Visible and Occluded Body Joints in a Virtual World](https://mlsanity.com/paper/1803.08319/) (2018)
- [MoVi: A Large Multipurpose Motion and Video Dataset](https://mlsanity.com/paper/2003.01888/) (2020)
- [4D Association Graph for Realtime Multi-person Motion Capture Using Multiple Video Cameras](https://mlsanity.com/paper/2002.12625/) (2020)
- [JRDB-Act: A Large-scale Dataset for Spatio-temporal Action, Social Group and Activity Detection](https://mlsanity.com/paper/2106.08827/) (2021)
- [WHAC: World-grounded Humans and Cameras](https://mlsanity.com/paper/2403.12959/) (2024)
- [JRDB-Pose: A Large-scale Dataset for Multi-Person Pose Estimation and Tracking](https://mlsanity.com/paper/2210.11940/) (2022)
- [Reconstructing Three-Dimensional Models of Interacting Humans](https://mlsanity.com/paper/2308.01854/) (2023)
- [JRDB-Social: A Multifaceted Robotic Dataset for Understanding of Context and Dynamics of Human Interactions Within Social Groups](https://mlsanity.com/paper/2404.04458/) (2024)
- [Crowd3D: Towards Hundreds of People Reconstruction from a Single Image](https://mlsanity.com/paper/2301.09376/) (2023)
- [Towards Robust and Smooth 3D Multi-Person Pose Estimation from Monocular Videos in the Wild](https://mlsanity.com/paper/2309.08644/) (2023)
- [JRDB-PanoTrack: An Open-world Panoptic Segmentation and Tracking Robotic Dataset in Crowded Human Environments](https://mlsanity.com/paper/2404.01686/) (2024)

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

- [JRDB-AVR: An Active Visual Reasoning Benchmark for Embodied Agents in Real-World Environments](https://mlsanity.com/paper/2609.35032/) (2026)

## Abstract (arXiv)

Real-world scenes are inherently crowded. Hence, estimating 3D poses of all nearby humans, tracking their movements over time, and understanding their activities within social and environmental contexts are essential for many applications, such as autonomous driving, robot perception, robot navigation, and human-robot interaction. However, most existing 3D human pose estimation datasets primarily focus on single-person scenes or are collected in controlled laboratory environments, which restricts their relevance to real-world applications. To bridge this gap, we introduce JRDB-Pose3D, which captures multi-human indoor and outdoor environments from a mobile robotic platform. JRDB-Pose3D provides rich 3D human pose annotations for such complex and dynamic scenes, including SMPL-based pose annotations with consistent body-shape parameters and track IDs for each individual over time. JRDB-Pose3D contains, on average, 5-10 human poses per frame, with some scenes featuring up to 35 individuals simultaneously. The proposed dataset presents unique challenges, including frequent occlusions, truncated bodies, and out-of-frame body parts, which closely reflect real-world environments. Moreover, JRDB-Pose3D inherits all available annotations from the JRDB dataset, such as 2D pose, information about social grouping, activities, and interactions, full-scene semantic masks with consistent human- and object-level tracking, and detailed annotations for each individual, such as age, gender, and race, making it a holistic dataset for a wide range of downstream perception and human-centric understanding tasks.