Human pose as calibration pattern: 3D human pose estimation with multiple unsynchronized and uncalibrated cameras

This paper proposes a novel algorithm of estimating 3D human pose from multi-view videos captured by unsynchronized and uncalibrated cameras. In a such configuration, the conventional vision-based approaches utilize detected 2D features of common 3D points for synchronization and camera pose estimation, however, they sometimes suffer from difficulties of feature correspondences in case of wide baselines. For such cases, the proposed method focuses on that the projections of human joints can be associated each other robustly even in wide baseline videos and utilizes them as the common reference points. To utilize the projections of joint as the corresponding points, they should be detected in the images, however, these 2D joint sometimes include detection errors which make the estimation unstable. For dealing with such errors, the proposed method introduces two ideas. The first idea is to relax the reprojection errors for avoiding optimizing to noised observations. The second idea is to introduce an geometric constraint on the prior knowledge that the reference points consists of human joints. We demonstrate the performance of the proposed algorithm of synchronization and pose estimation with qualitative and quantitative evaluations using synthesized and real data.