Joint Human Pose Estimation and Stereo 3D Localization

We present an end-to-end trainable Neural Network architecture for stereo imaging that jointly locates and estimates human body poses in 3D. Our method defines a 2D pose for each human in a stereo pair of images and uses a correlation layer with a composite field to associate each left-right pair of joints. In the absence of a stereo pose dataset, we show that we can train our method with synthetic data only and test it on real-world images (\textit{i.e.}, our training stage is domain invariant). Our method is particularly suitable for autonomous vehicles. We achieve state-of-the-art results for the 3D localization task on the challenging real-world KITTI dataset while running four times faster.


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International Conference on Robotics and Automation (ICRA), paris, france, May 31th, June 4th 2020
Year:
Jun 01 2020
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 Record created 2020-02-13, last modified 2020-03-22

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