Validation of AI-Based 3D Human Pose Estimation in a Cyber-Physical Environment

Abstract

Ensuring safe and realistic interactions between automated driving systems and vulnerable road users (VRUs) in urban environments requires advanced testing methodologies. This paper presents a test environment that combines a Vehiclein-the-Loop (ViL) test bench with a motion laboratory, demonstrating the feasibility of cyber-physical (CP) testing of vehicle-pedestrian and vehicle-cyclist interactions. Building upon previous work focused on pedestrian localization, we further validate a human pose estimation (HPE) approach through a comparative analysis of real-world (RW) and virtual representations of VRUs. The study examines the perception of full-body motion using a commercial monocular camera-based 3Dskeletal detection AI. The virtual scene is generated in Unreal Engine 5, where VRUs are animated in real time and projected onto a screen to stimulate the camera. The proposed stimulation technique ensures the correct perspective, enabling realistic vehicle perception. To assess the accuracy and consistency of HPE across RW and CP domains, we analyze the reliability of detections as well as variations in movement trajectories and joint estimation stability. The validation includes dynamic test scenarios where human avatars, both walking and cycling, are monitored under controlled conditions. Our results show a strong alignment in HPE between RW and CP test conditions for stable motion patterns, while notable inaccuracies persist under dynamic movements and occlusions, particularly for complex cyclist postures. These findings contribute to refining CP testing approaches for evaluating next-generation AI-based vehicle perception and to enhancing interaction models of automated vehicles and VRUs in CP environments.