UniPose: Unified Cross-modality Pose Prior Propagation towards RGB-D data for Weakly Supervised 3D Human Pose Estimation

Jinghong Zheng; Changlong Jiang; Jiaqi Li; Haohong Kuang; Hang Xu; Tingbing Yan

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arXiv · 2509.23376

UniPose: Unified Cross-modality Pose Prior Propagation towards RGB-D data for Weakly Supervised 3D Human Pose Estimation

Jinghong Zheng·Changlong Jiang·Jiaqi Li·Haohong Kuang·Hang Xu·Tingbing Yan

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Abstract

In this paper, we present UniPose, a unified cross-modality pose prior propagation method for weakly supervised 3D human pose estimation (HPE) using unannotated single-view RGB-D sequences (RGB, depth, and point cloud data). UniPose transfers 2D HPE annotations from large-scale RGB datasets (e.g., MS COCO) to the 3D domain via self-supervised learning on easily acquired RGB-D sequences, eliminating the need for labor-intensive 3D keypoint annotations. This approach bridges the gap between 2D and 3D domains without suffering from issues related to multi-view camera calibration or synthetic-to-real data shifts. During training, UniPose leverages off-the-shelf 2D pose estimations as weak supervision for point cloud networks, incorporating spatial-temporal constraints like body symmetry and joint motion. The 2D-to-3D back-projection loss and cross-modality interaction further enhance this process. By treating the point cloud network's 3D HPE results as pseudo ground truth, our anchor-to-joint prediction method performs 3D lifting on RGB and depth networks, making it more robust against inaccuracies in 2D HPE results compared to state-of-the-art methods. Experiments on CMU Panoptic and ITOP datasets show that UniPose achieves comparable performance to fully supervised methods. Incorporating large-scale unlabeled data (e.g., NTU RGB+D 60) enhances its performance under challenging conditions, demonstrating its potential for practical applications. Our proposed 3D lifting method also achieves state-of-the-art results.

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Jinghong Zheng, Changlong Jiang, Jiaqi Li, Haohong Kuang, Hang Xu, Tingbing Yan. 2025-09-27. UniPose: Unified Cross-modality Pose Prior Propagation towards RGB-D data for Weakly Supervised 3D Human Pose Estimation. https://arxiv.org/abs/2509.23376

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