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arXiv · 2602.13901

RPGD: RANSAC-P3P Gradient Descent for Extrinsic Calibration in 3D Human Pose Estimation

Zhanyu Tuo
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Abstract

In this paper, we propose RPGD (RANSAC-P3P Gradient Descent), a human-pose-driven extrinsic calibration framework that robustly aligns MoCap-based 3D skeletal data with monocular or multi-view RGB cameras using only natural human motion. RPGD formulates extrinsic calibration as a coarse-to-fine problem tailored to human poses, combining the global robustness of RANSAC-P3P with Gradient-Descent-based refinement. We evaluate RPGD on three large-scale public 3D HPE datasets as well as on a self-collected in-the-wild dataset. Experimental results demonstrate that RPGD consistently recovers extrinsic parameters with accuracy comparable to the provided ground truth, achieving sub-pixel MPJPE reprojection error even in challenging, noisy settings. These results indicate that RPGD provides a practical and automatic solution for reliable extrinsic calibration of large-scale 3D HPE dataset collection.

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Zhanyu Tuo. 2026-02-14. RPGD: RANSAC-P3P Gradient Descent for Extrinsic Calibration in 3D Human Pose Estimation. https://arxiv.org/abs/2602.13901

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