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arXiv · 2305.16487

EgoHumans: An Egocentric 3D Multi-Human Benchmark

Rawal Khirodkar·Aayush Bansal·Lingni Ma·Richard Newcombe·Minh Vo·Kris Kitani
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Abstract

We present EgoHumans, a new multi-view multi-human video benchmark to advance the state-of-the-art of egocentric human 3D pose estimation and tracking. Existing egocentric benchmarks either capture single subject or indoor-only scenarios, which limit the generalization of computer vision algorithms for real-world applications. We propose a novel 3D capture setup to construct a comprehensive egocentric multi-human benchmark in the wild with annotations to support diverse tasks such as human detection, tracking, 2D/3D pose estimation, and mesh recovery. We leverage consumer-grade wearable camera-equipped glasses for the egocentric view, which enables us to capture dynamic activities like playing tennis, fencing, volleyball, etc. Furthermore, our multi-view setup generates accurate 3D ground truth even under severe or complete occlusion. The dataset consists of more than 125k egocentric images, spanning diverse scenes with a particular focus on challenging and unchoreographed multi-human activities and fast-moving egocentric views. We rigorously evaluate existing state-of-the-art methods and highlight their limitations in the egocentric scenario, specifically on multi-human tracking. To address such limitations, we propose EgoFormer, a novel approach with a multi-stream transformer architecture and explicit 3D spatial reasoning to estimate and track the human pose. EgoFormer significantly outperforms prior art by 13.6% IDF1 on the EgoHumans dataset.

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Rawal Khirodkar, Aayush Bansal, Lingni Ma, Richard Newcombe, Minh Vo, Kris Kitani. 2023-08-18. EgoHumans: An Egocentric 3D Multi-Human Benchmark. https://arxiv.org/abs/2305.16487

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