立体视觉惯性定位器：利用稀疏IMUs和单个立体摄像头实现精确的形状感知运动捕捉
Stereo-Inertial Poser: Towards Metric-Accurate Shape-Aware Motion Capture Using Sparse IMUs and a Single Stereo Camera
AI总结：
立体视觉惯性定位器利用单个立体摄像头和六个IMUs，通过校准基线几何解决深度模糊问题，实现精确且形状感知的3D人体运动捕捉。
摘要：
最近在视觉-惯性运动捕捉系统方面的进步展示了将单目摄像头与稀疏惯性测量单元（IMUs）结合的潜力，作为成本效益高的解决方案，有效缓解了单一模态系统中存在的遮挡和漂移问题。然而，它们仍然受到单目深度模糊导致的全局翻译度量不准确以及对形状无关的局部运动估计的限制。我们提出了立体视觉惯性定位器，一种实时运动捕捉系统，利用单个立体摄像头和六个IMUs来估计精确且形状感知的3D人体运动。通过将单目RGB替换为立体视觉，我们的系统通过校准的基线几何结构解决深度模糊问题，从而实现直接的3D关键点提取和身体形状参数估计。IMU数据和视觉线索被融合，以预测漂移补偿的关节位置和根部运动，同时一个新颖的形状感知融合模块动态协调人体测量变化与全局翻译。我们的端到端流水线在无优化后处理的情况下实现了超过200 FPS，实现了实时部署。在各种数据集上的定量评估显示了最先进的性能。定性结果表明，我们的方法在长时间记录中实现了无漂移的全局翻译，并减少了脚滑效应。
英文摘要：
Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-effective solutions, which effectively mitigate occlusion and drift issues inherent in single-modality systems. However, they are still limited by metric inaccuracies in global translations stemming from monocular depth ambiguity, and shape-agnostic local motion estimations that ignore anthropometric variations. We present Stereo-Inertial Poser, a real-time motion capture system that leverages a single stereo camera and six IMUs to estimate metric-accurate and shape-aware 3D human motion. By replacing the monocular RGB with stereo vision, our system resolves depth ambiguity through calibrated baseline geometry, enabling direct 3D keypoint extraction and body shape parameter estimation. IMU data and visual cues are fused for predicting drift-compensated joint positions and root movements, while a novel shape-aware fusion module dynamically harmonizes anthropometry variations with global translations. Our end-to-end pipeline achieves over 200 FPS without optimization-based post-processing, enabling real-time deployment. Quantitative evaluations across various datasets demonstrate state-of-the-art performance. Qualitative results show our method produces drift-free global translation under a long recording time and reduces foot-skating effects.
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