Human Pose Estimation in Monocular Omnidirectional Top-View Images

Jingrui Yu, Tobias Scheck, Roman Seidel, Yukti Adya, Dipankar Nandi, Gangolf Hirtz; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2023, pp. 6411-6420


Human pose estimation (HPE) with convolutional neural networks (CNNs) for indoor monitoring is one of the major challenges in computer vision. In contrast to HPE in perspective views, an indoor monitoring system can consist of an omnidirectional camera with a field of view of 180deg to detect the pose of a person with only one sensor per room. To recognize human pose, the detection of keypoints is an essential upstream step. In our work we propose a new dataset for training and evaluation of CNNs for the task of keypoint detection in omnidirectional images. The training dataset, THEODORE+, consists of 50,000 images and is created by a 3D rendering engine, where humans are randomly walking through an indoor environment. In a dynamically created 3D scene, persons move randomly with simultaneously moving omnidirectional camera to generate synthetic RGB images and 2D and 3D ground truth. For evaluation purposes, the real-world PoseFES dataset with two scenarios and 701 frames with up to eight persons per scene was captured and annotated. We propose four training paradigms to finetune or re-train two top-down models in MMPose and two bottom-up models in CenterNet on THEODORE+. Beside a qualitative evaluation we report quantitative results. Compared to a COCO pretrained baseline, we achieve significant improvements especially for top-view scenes on the PoseFES dataset. Our datasets can be found at

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@InProceedings{Yu_2023_CVPR, author = {Yu, Jingrui and Scheck, Tobias and Seidel, Roman and Adya, Yukti and Nandi, Dipankar and Hirtz, Gangolf}, title = {Human Pose Estimation in Monocular Omnidirectional Top-View Images}, booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops}, month = {June}, year = {2023}, pages = {6411-6420} }