DETRPose: Real-Time End-to-End Multi-Person Pose Estimation via Modified Transformer Decoder and Novel Denoising Keypoints

Sebastian Janampa; Marios Pattichis

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arXiv · 2506.13027

DETRPose: Real-Time End-to-End Multi-Person Pose Estimation via Modified Transformer Decoder and Novel Denoising Keypoints

Sebastian Janampa·Marios Pattichis

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Abstract

Multi-person pose estimation (MPPE), which involves detecting body joint positions (keypoints) for every person in an image, is a fundamental task in computer vision. Despite recent advances, no transformer-based model currently achieves real-time performance. This work addresses the latency challenge by introducing DETRPose, the first family of real-time, end-to-end transformer models for multi-person 2D pose estimation. DETRPose significantly enhances the GroupPose decoder, enabling real-time inference. For training, a novel denoising keypoint technique is proposed to accelerate convergence. The varifocal loss is also extended for keypoints, termed Keypoint Similarity VariFocal loss, to improve query quality. Extensive evaluation demonstrates that DETRPose models achieve accuracy comparable to or exceeding that of leading alternatives while requiring five to ten times fewer training epochs. DETRPose-S matches the accuracy of YOLOv8-Pose-X and YOLO11-Pose-X on the COCO dataset (67.0 vs 67.3 and 67.2 in AP) with 81% fewer parameters (11.5M vs 69.4M and 58.8M) and 52% faster inference speed (2.39ms vs 5.23ms and 4.93ms). On the CrowdPose dataset, DETRPose-X has $13.1\times$ fewer FLOPs (232.3G vs 3048.1G) and only $2%$ fewer precision (75.1 vs 76.6 in AP) than ED-Pose-SwinL-5S. On the OCHuman dataset, DETRPose-S surpasses all previous models, showing the robustness of DETRPose on out-of-distribution datasets. Code is available at https://github.com/SebastianJanampa/DETRPose

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Sebastian Janampa, Marios Pattichis. 2026-07-02. DETRPose: Real-Time End-to-End Multi-Person Pose Estimation via Modified Transformer Decoder and Novel Denoising Keypoints. https://arxiv.org/abs/2506.13027

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