HybrIK relies on a combination of analytical inverse kinematics and deep learning to produce more accurate 3D pose estimation from 2D monocular images. HybrIK has three major components: (1) pretrained convolution backbone, (2) deconvolution to lift 3D pose from 2D convolution features, (3) analytical inverse kinematics pass correcting deep learning prediction using learned distribution of plausible twist and swing angles. In this paper we propose an enhancement of the 2D to 3D lifting module, replacing deconvolution with Transformer, resulting in accuracy and computational efficiency improvement relative to the original HybrIK method. We demonstrate our results on commonly used H36M, PW3D, COCO and HP3D datasets. Our code is publicly available https://github.com/boreshkinai/hybrik-transformer.
Qing Yuan Research Institute（清源研究院）；Qi Zhi Institute（期智研究院）；AI Institute, Shanghai Jiao Tong University（上海交通大学人工智能研究院）；Shanghai Jiao Tong University（上海交通大学）
Model-based 3D pose and shape estimation methods reconstruct a full 3D mesh for the human body by estimating several parameters. However, learning the abstract parameters is a highly non-linear process and suffers from image-model misalignment, leading to mediocre model performance. In contrast, 3D keypoint estimation methods combine deep CNN network with the volumetric representation to achieve pixel-level localization accuracy but may predict unrealistic body structure. In this paper, we address the above issues by bridging the gap between body mesh estimation and 3D keypoint estimation. We …
Convolutional neural networks (CNNs) have been widely utilized in many computer vision tasks. However, CNNs have a fixed reception field and lack the ability of long-range perception, which is crucial to human pose estimation. Due to its capability to capture long-range dependencies between pixels, transformer architecture has been adopted to computer vision applications recently and is proven to be a highly effective architecture. We are interested in exploring its capability in human pose estimation, and thus propose a novel model based on transformer architecture, enhanced with a feature py…
University of California, Irvine（加州大学欧文分校）；Tencent Inc（腾讯公司）；Meta AI
Recently, the vision transformer and its variants have played an increasingly important role in both monocular and multi-view human pose estimation. Considering image patches as tokens, transformers can model the global dependencies within the entire image or across images from other views. However, global attention is computationally expensive. As a consequence, it is difficult to scale up these transformer-based methods to high-resolution features and many views. In this paper, we propose the token-Pruned Pose Transformer (PPT) for 2D human pose estimation, which can locate a rough human mas…
Nanjing University of Information Science and Technology（南京信息工程大学）
This paper proposes a unified framework dubbed Multi-view and Temporal Fusing Transformer (MTF-Transformer) to adaptively handle varying view numbers and video length without camera calibration in 3D Human Pose Estimation (HPE). It consists of Feature Extractor, Multi-view Fusing Transformer (MFT), and Temporal Fusing Transformer (TFT). Feature Extractor estimates 2D pose from each image and fuses the prediction according to the confidence. It provides pose-focused feature embedding and makes subsequent modules computationally lightweight. MFT fuses the features of a varying number of views wi…
6D object pose estimation is a crucial prerequisite for autonomous robot manipulation applications. The state-of-the-art models for pose estimation are convolutional neural network (CNN)-based. Lately, Transformers, an architecture originally proposed for natural language processing, is achieving state-of-the-art results in many computer vision tasks as well. Equipped with the multi-head self-attention mechanism, Transformers enable simple single-stage end-to-end architectures for learning object detection and 6D object pose estimation jointly. In this work, we propose YOLOPose (short form for…
Camera pose estimation or camera relocalization is the centerpiece in numerous computer vision tasks such as visual odometry, structure from motion (SfM) and SLAM. In this paper we propose a neural network approach with a graph transformer backbone, namely TransCamP, to address the camera relocalization problem. In contrast with prior work where the pose regression is mainly guided by photometric consistency, TransCamP effectively fuses the image features, camera pose information and inter-frame relative camera motions into encoded graph attributes and is trained towards the graph consistency …
Absolute camera pose regressors estimate the position and orientation of a camera from the captured image alone. Typically, a convolutional backbone with a multi-layer perceptron head is trained with images and pose labels to embed a single reference scene at a time. Recently, this scheme was extended for learning multiple scenes by replacing the MLP head with a set of fully connected layers. In this work, we propose to learn multi-scene absolute camera pose regression with Transformers, where encoders are used to aggregate activation maps with self-attention and decoders transform latent feat…
Canberra University（堪培拉大学）；CSIRO（联邦科学与工业研究组织）；The University of Western Australia（西澳大利亚大学）
3D human pose estimation can be handled by encoding the geometric dependencies between the body parts and enforcing the kinematic constraints. Recently, Transformer has been adopted to encode the long-range dependencies between the joints in the spatial and temporal domains. While they had shown excellence in long-range dependencies, studies have noted the need for improving the locality of vision Transformers. In this direction, we propose a novel pose estimation Transformer featuring rich representations of body joints critical for capturing subtle changes across frames (i.e., inter-feature …
École Polytechnique Fédéral de Lausanne（洛桑联邦理工学院）；Idiap Research Institute（IDIAP研究所）
We propose to leverage Transformer architectures for non-autoregressive human motion prediction. Our approach decodes elements in parallel from a query sequence, instead of conditioning on previous predictions such as instate-of-the-art RNN-based approaches. In such a way our approach is less computational intensive and potentially avoids error accumulation to long term elements in the sequence. In that context, our contributions are fourfold: (i) we frame human motion prediction as a sequence-to-sequence problem and propose a non-autoregressive Transformer to infer the sequences of poses in p…
Ecole Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）
We propose an end-to-end trainable approach for multi-instance pose estimation, called POET (POse Estimation Transformer). Combining a convolutional neural network with a transformer encoder-decoder architecture, we formulate multiinstance pose estimation from images as a direct set prediction problem. Our model is able to directly regress the pose of all individuals, utilizing a bipartite matching scheme. POET is trained using a novel set-based global loss that consists of a keypoint loss, a visibility loss and a class loss. POET reasons about the relations between multiple detected individua…
The University of Adelaide（阿德莱德大学）；Alibaba Group（阿里巴巴集团）
We propose a human pose estimation framework that solves the task in the regression-based fashion. Unlike previous regression-based methods, which often fall behind those state-of-the-art methods, we formulate the pose estimation task into a sequence prediction problem that can effectively be solved by transformers. Our framework is simple and direct, bypassing the drawbacks of the heatmap-based pose estimation. Moreover, with the attention mechanism in transformers, our proposed framework is able to adaptively attend to the features most relevant to the target keypoints, which largely overcom…
Qualcomm AI Research（高通人工智能研究院）；Qualcomm Technologies, Inc.（高通技术公司）；Shanghai Jiao Tong University（上海交通大学）
There has been a recent surge of interest in introducing transformers to 3D human pose estimation (HPE) due to their powerful capabilities in modeling long-term dependencies. However, existing transformer-based methods treat body joints as equally important inputs and ignore the prior knowledge of human skeleton topology in the self-attention mechanism. To tackle this issue, in this paper, we propose a Pose-Oriented Transformer (POT) with uncertainty guided refinement for 3D HPE. Specifically, we first develop novel pose-oriented self-attention mechanism and distance-related position embedding…
Although many approaches for multi-human pose estimation in videos have shown profound results, they require densely annotated data which entails excessive man labor. Furthermore, there exists occlusion and motion blur that inevitably lead to poor estimation performance. To address these problems, we propose a method that leverages an attention mask for occluded joints and encodes temporal dependency between frames using transformers. First, our framework composes different combinations of sparsely annotated frames that denote the track of the overall joint movement. We propose an occlusion at…
6D pose estimation is the task of predicting the translation and orientation of objects in a given input image, which is a crucial prerequisite for many robotics and augmented reality applications. Lately, the Transformer Network architecture, equipped with a multi-head self-attention mechanism, is emerging to achieve state-of-the-art results in many computer vision tasks. DETR, a Transformer-based model, formulated object detection as a set prediction problem and achieved impressive results without standard components like region of interest pooling, non-maximal suppression, and bounding box …
Despite the great progress in 3D human pose estimation from videos, it is still an open problem to take full advantage of a redundant 2D pose sequence to learn representative representations for generating one 3D pose. To this end, we propose an improved Transformer-based architecture, called Strided Transformer, which simply and effectively lifts a long sequence of 2D joint locations to a single 3D pose. Specifically, a Vanilla Transformer Encoder (VTE) is adopted to model long-range dependencies of 2D pose sequences. To reduce the redundancy of the sequence, fully-connected layers in the fee…
Training state-of-the-art models for human pose estimation in videos requires datasets with annotations that are really hard and expensive to obtain. Although transformers have been recently utilized for body pose sequence modeling, related methods rely on pseudo-ground truth to augment the currently limited training data available for learning such models. In this paper, we introduce PoseBERT, a transformer module that is fully trained on 3D Motion Capture (MoCap) data via masked modeling. It is simple, generic and versatile, as it can be plugged on top of any image-based model to transform i…
University of Chinese Academy of Sciences（中国科学院大学）；Tsinghua University（清华大学）；University of California San Diego（加利福尼亚大学圣迭戈分校）
In this paper, we present a regression-based pose recognition method using cascade Transformers. One way to categorize the existing approaches in this domain is to separate them into 1). heatmap-based and 2). regression-based. In general, heatmap-based methods achieve higher accuracy but are subject to various heuristic designs (not end-to-end mostly), whereas regression-based approaches attain relatively lower accuracy but they have less intermediate non-differentiable steps. Here we utilize the encoder-decoder structure in Transformers to perform regression-based person and keypoint detectio…
University of California, Irvine（加州大学欧文分校）；Facebook（脸书）；Amazon（亚马逊）
Estimating the 2D human poses in each view is typically the first step in calibrated multi-view 3D pose estimation. But the performance of 2D pose detectors suffers from challenging situations such as occlusions and oblique viewing angles. To address these challenges, previous works derive point-to-point correspondences between different views from epipolar geometry and utilize the correspondences to merge prediction heatmaps or feature representations. Instead of post-prediction merge/calibration, here we introduce a transformer framework for multi-view 3D pose estimation, aiming at directly …
Ulsan National Institute of Science and Technology (UNIST)（蔚山科学技术院）
This report describes our 1st place solution to ECCV 2022 challenge on Human Body, Hands, and Activities (HBHA) from Egocentric and Multi-view Cameras (hand pose estimation). In this challenge, we aim to estimate global 3D hand poses from the input image where two hands and an object are interacting on the egocentric viewpoint. Our proposed method performs end-to-end multi-hand pose estimation via transformer architecture. In particular, our method robustly estimates hand poses in a scenario where two hands interact. Additionally, we propose an algorithm that considers hand scales to robustly …
The state-of-the-art for monocular 3D human pose estimation in videos is dominated by the paradigm of 2D-to-3D pose uplifting. While the uplifting methods themselves are rather efficient, the true computational complexity depends on the per-frame 2D pose estimation. In this paper, we present a Transformer-based pose uplifting scheme that can operate on temporally sparse 2D pose sequences but still produce temporally dense 3D pose estimates. We show how masked token modeling can be utilized for temporal upsampling within Transformer blocks. This allows to decouple the sampling rate of input 2D …
University of Chinese Academy of Sciences（中国科学院大学）
We propose a novel attention-based 2D-to-3D pose estimation network for graph-structured data, named KOG-Transformer, and a 3D pose-to-shape estimation network for hand data, named GASE-Net. Previous 3D pose estimation methods have focused on various modifications to the graph convolution kernel, such as abandoning weight sharing or increasing the receptive field. Some of these methods employ attention-based non-local modules as auxiliary modules. In order to better model the relationship between nodes in graph-structured data and fuse the information of different neighbor nodes in a different…
Shanghai Jiao Tong University（上海交通大学）；UC San Diego（加州大学圣地亚哥分校）
We propose to personalize a human pose estimator given a set of test images of a person without using any manual annotations. While there is a significant advancement in human pose estimation, it is still very challenging for a model to generalize to different unknown environments and unseen persons. Instead of using a fixed model for every test case, we adapt our pose estimator during test time to exploit person-specific information. We first train our model on diverse data with both a supervised and a self-supervised pose estimation objectives jointly. We use a Transformer model to build a t…
The University of Adelaide（阿德莱德大学）；Alibaba Damo Academy（阿里巴巴达摩院）；Zhejiang University（浙江大学）；Meituan Inc.（美团公司）
We propose a direct, regression-based approach to 2D human pose estimation from single images. We formulate the problem as a sequence prediction task, which we solve using a Transformer network. This network directly learns a regression mapping from images to the keypoint coordinates, without resorting to intermediate representations such as heatmaps. This approach avoids much of the complexity associated with heatmap-based approaches. To overcome the feature misalignment issues of previous regression-based methods, we propose an attention mechanism that adaptively attends to the features that…
Case Western Reserve University（凯斯西储大学）；PAII Inc.（平安智能信息有限公司）；Ping An Technology（平安科技）；Duke Kunshan University（昆山杜克大学）
Transformer-based approaches have been successfully proposed for 3D human pose estimation (HPE) from 2D pose sequence and achieved state-of-the-art (SOTA) performance. However, current SOTAs have difficulties in modeling spatial-temporal correlations of joints at different levels simultaneously. This is due to the poses' spatial-temporal complexity. Poses move at various speeds temporarily with various joints and body-parts movement spatially. Hence, a cookie-cutter transformer is non-adaptable and can hardly meet the "in-the-wild" requirement. To mitigate this issue, we propose Hierarchical S…
University of Klagenfurt（克拉根福大学）；Infineon Technologies Austria AG（英飞凌科技奥地利股份公司）
Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when additional information, such as depth and 3D models, is not provided. We present a transformer-based approach that takes an RGB image as input and predicts a 6D pose for each object in the image. Besides the image, our network does not require any additional information such as depth maps or 3D object models. First, the image is passed through an object detec…
Occluded person re-identification is a challenging task as human body parts could be occluded by some obstacles (e.g. trees, cars, and pedestrians) in certain scenes. Some existing pose-guided methods solve this problem by aligning body parts according to graph matching, but these graph-based methods are not intuitive and complicated. Therefore, we propose a transformer-based Pose-guided Feature Disentangling (PFD) method by utilizing pose information to clearly disentangle semantic components (e.g. human body or joint parts) and selectively match non-occluded parts correspondingly. First, Vis…
This paper presents a significant contribution to the field of repetitive action counting through the introduction of a new approach called Pose Saliency Representation. The proposed method efficiently represents each action using only two salient poses instead of redundant frames, which significantly reduces the computational cost while improving the performance. Moreover, we introduce a pose-level method, PoseRAC, which is based on this representation and achieves state-of-the-art performance on two new version datasets by using Pose Saliency Annotation to annotate salient poses for training…
National Institute of Advanced Industrial Science and Technology (AIST)（国立先进工业科学技术研究所（AIST））；CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL（法国国家科学研究中心-国立先进工业科学技术研究所联合机器人实验室（UMI3218/RL））
In this paper, we present Skeleton Transformer Networks (SkeletonNet), an end-to-end framework that can predict not only 3D joint positions but also 3D angular pose (bone rotations) of a human skeleton from a single color image. This in turn allows us to generate skinned mesh animations. Here, we propose a two-step regression approach. The first step regresses bone rotations in order to obtain an initial solution by considering skeleton structure. The second step performs refinement based on heatmap regressor using a 3D pose representation called cross heatmap which stacks heatmaps of xy and z…
Predicting 3D human pose from a single monoscopic video can be highly challenging due to factors such as low resolution, motion blur and occlusion, in addition to the fundamental ambiguity in estimating 3D from 2D. Approaches that directly regress the 3D pose from independent images can be particularly susceptible to these factors and result in jitter, noise and/or inconsistencies in skeletal estimation. Much of which can be overcome if the temporal evolution of the scene and skeleton are taken into account. However, rather than tracking body parts and trying to temporally smooth them, we prop…
State Key Laboratory of Virtual Reality Technology and Systems, SCSE, Beihang University（北京航空航天大学计算机学院虚拟现实技术与系统国家重点实验室）；Peng Cheng Laboratory（鹏城实验室）
Person Re-Identification (Re-Id) in occlusion scenarios is a challenging problem because a pedestrian can be partially occluded. The use of local information for feature extraction and matching is still necessary. Therefore, we propose a Pose-guided inter-and intra-part relational transformer (Pirt) for occluded person Re-Id, which builds part-aware long-term correlations by introducing transformers. In our framework, we firstly develop a pose-guided feature extraction module with regional grouping and mask construction for robust feature representations. The positions of a pedestrian in the i…
We propose a novel method for joint estimation of shape and pose of rigid objects from their sequentially observed RGB-D images. In sharp contrast to past approaches that rely on complex non-linear optimization, we propose to formulate it as a neural optimization that learns to efficiently estimate the shape and pose. We introduce Deep Directional Distance Function (DeepDDF), a neural network that directly outputs the depth image of an object given the camera viewpoint and viewing direction, for efficient error computation in 2D image space. We formulate the joint estimation itself as a Transf…
3D hand pose estimation (HPE) is the process of locating the joints of the hand in 3D from any visual input. HPE has recently received an increased amount of attention due to its key role in a variety of human-computer interaction applications. Recent HPE methods have demonstrated the advantages of employing videos or multi-view images, allowing for more robust HPE systems. Accordingly, in this study, we propose a new method to perform Sequential learning with Transformer for Hand Pose (SeTHPose) estimation. Our SeTHPose pipeline begins by extracting visual embeddings from individual hand imag…
We present a new method, called MEsh TRansfOrmer (METRO), to reconstruct 3D human pose and mesh vertices from a single image. Our method uses a transformer encoder to jointly model vertex-vertex and vertex-joint interactions, and outputs 3D joint coordinates and mesh vertices simultaneously. Compared to existing techniques that regress pose and shape parameters, METRO does not rely on any parametric mesh models like SMPL, thus it can be easily extended to other objects such as hands. We further relax the mesh topology and allow the transformer self-attention mechanism to freely attend between …
The University of Sydney（悉尼大学）；JD Explore Academy（京东探索研究院）
Although no specific domain knowledge is considered in the design, plain vision transformers have shown excellent performance in visual recognition tasks. However, little effort has been made to reveal the potential of such simple structures for pose estimation tasks. In this paper, we show the surprisingly good capabilities of plain vision transformers for pose estimation from various aspects, namely simplicity in model structure, scalability in model size, flexibility in training paradigm, and transferability of knowledge between models, through a simple baseline model called ViTPose. Specif…
Seoul National University（首尔国立大学）；SNU-LG AI Research Center（首尔国立大学-LG人工智能研究中心）
Predicting the object's 6D pose from a single RGB image is a fundamental computer vision task. Generally, the distance between transformed object vertices is employed as an objective function for pose estimation methods. However, projective geometry in the camera space is not considered in those methods and causes performance degradation. In this regard, we propose a new pose estimation system based on a projective grid instead of object vertices. Our pose estimation method, dynamic projective spatial transformer network (DProST), localizes the region of interest grid on the rays in camera spa…
University of Oulu（奥卢大学）；ETH Zurich（苏黎世联邦理工学院）；University of Trento（特伦托大学）
We present a customized 3D mesh Transformer model for the pose transfer task. As the 3D pose transfer essentially is a deformation procedure dependent on the given meshes, the intuition of this work is to perceive the geometric inconsistency between the given meshes with the powerful self-attention mechanism. Specifically, we propose a novel geometry-contrastive Transformer that has an efficient 3D structured perceiving ability to the global geometric inconsistencies across the given meshes. Moreover, locally, a simple yet efficient central geodesic contrastive loss is further proposed to impr…
University of Chinese Academy of Sciences（中国科学院大学）
Exploiting relations among 2D joints plays a crucial role yet remains semi-developed in 2D-to-3D pose estimation. To alleviate this issue, we propose GraFormer, a novel transformer architecture combined with graph convolution for 3D pose estimation. The proposed GraFormer comprises two repeatedly stacked core modules, GraAttention and ChebGConv block. GraAttention enables all 2D joints to interact in global receptive field without weakening the graph structure information of joints, which introduces vital features for later modules. Unlike vanilla graph convolutions that only model the apparen…
