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arXiv · 2603.21327

KHMP: Frequency-Domain Kalman Refinement for High-Fidelity Human Motion Prediction

Wenhan Wu·Zhishuai Guo·Chen Chen·Srijan Das·Hongfei Xue·Pu Wang·Aidong Lu
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Abstract

Stochastic human motion prediction aims to generate diverse, plausible futures from observed sequences. Despite advances in generative modeling, existing methods often produce predictions corrupted by high-frequency jitter and temporal discontinuities. To address these challenges, we introduce KHMP, a novel framework featuring an adaptiveKalman filter applied in the DCT domain to generate high-fidelity human motion predictions. By treating high-frequency DCT coefficients as a frequency-indexed noisy signal, the Kalman filter recursively suppresses noise while preserving motion details. Notably, its noise parameters are dynamically adjusted based on estimated Signal-to-Noise Ratio (SNR), enabling aggressive denoising for jittery predictions and conservative filtering for clean motions. This refinement is complemented by training-time physical constraints (temporal smoothness and joint angle limits) that encode biomechanical principles into the generative model. Together, these innovations establish a new paradigm integrating adaptive signal processing with physics-informed learning. Experiments on the Human3.6M and HumanEva-I datasets demonstrate that KHMP achieves state-of-the-art accuracy, effectively mitigating jitter artifacts to produce smooth and physically plausible motions.

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Wenhan Wu, Zhishuai Guo, Chen Chen, Srijan Das, Hongfei Xue, Pu Wang, Aidong Lu. 2026-03-22. KHMP: Frequency-Domain Kalman Refinement for High-Fidelity Human Motion Prediction. https://arxiv.org/abs/2603.21327

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