Accurate Markerless 3D Pose and Shape Estimation using Skeletal Transformers

Temel Kavramlar

SkelFormer, a novel markerless motion capture pipeline, leverages large amounts of motion capture data to address the poor generalization of multi-view human shape and pose estimation approaches, outperforming optimization-based methods in accuracy.

Özet

The paper introduces SkelFormer, a novel markerless motion capture pipeline for multi-view human pose and shape estimation. The method first uses off-the-shelf 2D keypoint estimators, pre-trained on large-scale in-the-wild data, to obtain 3D joint positions. Next, it proposes a regression-based inverse-kinematic skeletal transformer that maps the joint positions to pose and shape representations from heavily noisy observations.
The key highlights of the method are:

Separating the 3D keypoint detection and inverse-kinematic problems, along with the expressive representations learned by the skeletal transformer, enhance the generalization of the method to unseen noisy data.
The skeletal transformer significantly reduces computational overhead while exhibiting more accurate performance compared to optimization-based solutions.
Extensive evaluations on three public datasets in both in-distribution and out-of-distribution settings demonstrate the strong performance of SkelFormer, outperforming prior works.
Ablation experiments show the impact of each module in the architecture, and the method exhibits considerable robustness to noise and heavy occlusions.

İstatistikler

The average joint rotations across the dataset are used to normalize the joint rotation matrices.
Random Gaussian noise with a standard deviation proportional to 5% of the joint annotation confidences is added to the 3D keypoints.

Alıntılar

"SkelFormer, a novel markerless motion capture pipeline, leverages large amounts of motion capture data to address the poor generalization of multi-view human shape and pose estimation approaches, outperforming optimization-based methods in accuracy."
"Separating the 3D keypoint detection and inverse-kinematic problems, along with the expressive representations learned by the skeletal transformer, enhance the generalization of the method to unseen noisy data."
"The skeletal transformer significantly reduces computational overhead while exhibiting more accurate performance compared to optimization-based solutions."

Önemli Bilgiler Şuradan Elde Edildi

SkelFormer: Markerless 3D Pose and Shape Estimation using Skeletal Transformers

by Vandad Davoo... : arxiv.org 04-22-2024

https://arxiv.org/pdf/2404.12625.pdf

Daha Derin Sorular

How can the proposed skeletal transformer be extended to incorporate temporal information for further improving the robustness and accuracy of the motion capture pipeline

To incorporate temporal information into the proposed skeletal transformer for further enhancing the robustness and accuracy of the motion capture pipeline, a few key strategies can be implemented:

Temporal Consistency: By introducing a temporal component to the skeletal transformer, the model can leverage information from previous frames to ensure consistency in pose and shape estimation over time. This can help in smoothing out predictions and reducing jitter in the output.

Recurrent Neural Networks (RNNs): Utilizing RNNs or Long Short-Term Memory (LSTM) networks can enable the model to capture temporal dependencies in the input data. This can help in predicting future poses based on the sequence of past poses, leading to more accurate and coherent motion capture results.

Temporal Attention Mechanisms: Implementing attention mechanisms that focus on relevant frames in a sequence can improve the model's ability to extract meaningful temporal information. By attending to key frames with significant pose changes or occlusions, the model can make more informed predictions.

Temporal Data Augmentation: Introducing temporal data augmentation techniques, such as frame interpolation or time warping, can help the model generalize better to variations in motion speed and timing. This can enhance the model's ability to handle different motion dynamics.

Temporal Loss Functions: Designing loss functions that penalize temporal inconsistencies between consecutive frames can guide the model to produce smoother and more coherent motion sequences. By enforcing temporal continuity in the predicted poses, the model can generate more realistic and accurate motion capture results.

What are the potential limitations of the regression-based inverse-kinematic approach, and how can they be addressed in future work

The regression-based inverse-kinematic approach, while effective in predicting pose and shape parameters, may have certain limitations that can be addressed in future work:

Overfitting: Regression models are susceptible to overfitting, especially when trained on limited or biased datasets. To mitigate this, incorporating regularization techniques like dropout or weight decay can help prevent overfitting and improve generalization.

Complexity of Motion: Regression models may struggle with capturing complex and intricate motions, leading to inaccuracies in pose estimation. Introducing more sophisticated network architectures or incorporating hierarchical structures can help the model better represent the nuances of human motion.

Handling Occlusions: Regression models may have difficulty handling occlusions or missing data in the input, which can impact the accuracy of pose estimation. Implementing techniques like data augmentation with occlusions or integrating occlusion-aware modules can improve the model's robustness to incomplete input data.

Real-time Processing: Regression models may have limitations in real-time processing due to computational complexity. Optimizing the model architecture for efficiency and exploring parallel processing techniques can help enhance the model's speed and scalability for real-time applications.

Generalization to Unseen Data: Regression models trained on specific datasets may lack generalization to unseen or diverse data distributions. To address this, incorporating transfer learning from a wider range of datasets or domain adaptation techniques can improve the model's ability to handle diverse scenarios.

Given the success of the skeletal transformer in 3D pose and shape estimation, how can the proposed architecture be adapted for other related tasks, such as hand pose estimation or object manipulation

The proposed architecture of the skeletal transformer can be adapted for other related tasks, such as hand pose estimation or object manipulation, by making the following modifications:

Hand Pose Estimation: For hand pose estimation, the skeletal transformer can be modified to focus on the hand joints and their interactions. By adjusting the input data and the decoder architecture to cater specifically to hand poses, the model can be tailored for accurate hand pose estimation in various scenarios.

Object Manipulation: To adapt the skeletal transformer for object manipulation tasks, the model can be trained on datasets that include object interactions and hand-object relationships. By incorporating additional features related to object properties and interactions, the model can learn to predict poses and shapes relevant to object manipulation tasks.

Fine-grained Pose Estimation: For tasks requiring fine-grained pose estimation, such as facial expressions or detailed body movements, the skeletal transformer can be enhanced with higher-resolution input data and finer-grained output representations. This can enable the model to capture subtle movements and nuances in pose estimation.

Multi-Modal Fusion: To handle tasks involving multiple modalities, such as combining visual and depth data for 3D pose estimation, the skeletal transformer can be extended to incorporate multi-modal fusion techniques. By integrating information from different modalities, the model can improve accuracy and robustness in complex scenarios.

Dynamic Environments: For tasks in dynamic environments with changing backgrounds or lighting conditions, the model can be adapted to incorporate dynamic context-aware mechanisms. By considering environmental factors in the pose estimation process, the model can adapt to varying conditions and improve performance in dynamic settings.