{"id":"https://openalex.org/W3084309718","doi":"https://doi.org/10.1109/tpami.2021.3136136","title":"Orientation Keypoints for 6D Human Pose Estimation","display_name":"Orientation Keypoints for 6D Human Pose Estimation","publication_year":2021,"publication_date":"2021-12-16","ids":{"openalex":"https://openalex.org/W3084309718","doi":"https://doi.org/10.1109/tpami.2021.3136136","mag":"3084309718","pmid":"https://pubmed.ncbi.nlm.nih.gov/34914582"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2021.3136136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2021.3136136","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2009.04930","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085865368","display_name":"Martin Fisch","orcid":"https://orcid.org/0000-0001-9015-545X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Martin Fisch","raw_affiliation_strings":["Department of Computing, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9015-545X","affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054998594","display_name":"Ronald Clark","orcid":"https://orcid.org/0000-0002-6344-5299"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ronald Clark","raw_affiliation_strings":["Department of Computing, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6344-5299","affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.00505695,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"44","issue":"12","first_page":"10145","last_page":"10158"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7629469037055969},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.7541680335998535},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7422817945480347},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7334404587745667},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6896638870239258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6844545602798462},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6203244924545288},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5633838176727295},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5514734983444214},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.48033466935157776},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4780357778072357},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4696672856807709},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.42566749453544617},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.26339155435562134},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.22443172335624695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21991893649101257},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12208405137062073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06913065910339355}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7629469037055969},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.7541680335998535},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7422817945480347},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7334404587745667},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6896638870239258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6844545602798462},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6203244924545288},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5633838176727295},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5514734983444214},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.48033466935157776},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4780357778072357},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4696672856807709},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.42566749453544617},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.26339155435562134},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.22443172335624695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21991893649101257},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12208405137062073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06913065910339355},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":6,"locations":[{"id":"doi:10.1109/tpami.2021.3136136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2021.3136136","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:34914582","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34914582","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on pattern analysis and machine intelligence","raw_type":null},{"id":"pmh:oai:arXiv.org:2009.04930","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.04930","pdf_url":"https://arxiv.org/pdf/2009.04930","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3084309718","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2009.04930.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/93993","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/93993","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"10158","raw_type":"Journal Article"},{"id":"doi:10.48550/arxiv.2009.04930","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2009.04930","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2009.04930","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.04930","pdf_url":"https://arxiv.org/pdf/2009.04930","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3084309718.pdf","grobid_xml":"https://content.openalex.org/works/W3084309718.grobid-xml"},"referenced_works_count":84,"referenced_works":["https://openalex.org/W1735317348","https://openalex.org/W1836465849","https://openalex.org/W1861492603","https://openalex.org/W1904365287","https://openalex.org/W1936750108","https://openalex.org/W1943191679","https://openalex.org/W1967437522","https://openalex.org/W1967554269","https://openalex.org/W1991544872","https://openalex.org/W2013397696","https://openalex.org/W2080873731","https://openalex.org/W2101032778","https://openalex.org/W2105041273","https://openalex.org/W2118931255","https://openalex.org/W2128019145","https://openalex.org/W2156387975","https://openalex.org/W2302255633","https://openalex.org/W2307770531","https://openalex.org/W2483862638","https://openalex.org/W2502928967","https://openalex.org/W2522527348","https://openalex.org/W2554247908","https://openalex.org/W2557698284","https://openalex.org/W2559085405","https://openalex.org/W2566741951","https://openalex.org/W2573098616","https://openalex.org/W2573854917","https://openalex.org/W2583372902","https://openalex.org/W2583585015","https://openalex.org/W2604236302","https://openalex.org/W2612706635","https://openalex.org/W2756050327","https://openalex.org/W2758778552","https://openalex.org/W2768879211","https://openalex.org/W2788865504","https://openalex.org/W2795089319","https://openalex.org/W2797184202","https://openalex.org/W2798637590","https://openalex.org/W2798646183","https://openalex.org/W2806998878","https://openalex.org/W2895748257","https://openalex.org/W2907363067","https://openalex.org/W2912199856","https://openalex.org/W2924460655","https://openalex.org/W2934361577","https://openalex.org/W2949924544","https://openalex.org/W2962754033","https://openalex.org/W2962896489","https://openalex.org/W2962916650","https://openalex.org/W2963013806","https://openalex.org/W2963150697","https://openalex.org/W2963402313","https://openalex.org/W2963441822","https://openalex.org/W2963598138","https://openalex.org/W2963995996","https://openalex.org/W2964121744","https://openalex.org/W2964221239","https://openalex.org/W2969450957","https://openalex.org/W2970285700","https://openalex.org/W2978956737","https://openalex.org/W2981637078","https://openalex.org/W2998621957","https://openalex.org/W3009246422","https://openalex.org/W3023681781","https://openalex.org/W3034482680","https://openalex.org/W3035551320","https://openalex.org/W3098473649","https://openalex.org/W3099018226","https://openalex.org/W3106126861","https://openalex.org/W3110095664","https://openalex.org/W3167491448","https://openalex.org/W4214619583","https://openalex.org/W4214684804","https://openalex.org/W4214770715","https://openalex.org/W6631190155","https://openalex.org/W6638667902","https://openalex.org/W6639102338","https://openalex.org/W6640036494","https://openalex.org/W6648200313","https://openalex.org/W6682889407","https://openalex.org/W6752114883","https://openalex.org/W6754472501","https://openalex.org/W6755322230","https://openalex.org/W6780110325"],"related_works":["https://openalex.org/W3009819822","https://openalex.org/W3081333554","https://openalex.org/W3194852071","https://openalex.org/W2990671151","https://openalex.org/W3106762210","https://openalex.org/W1505454992","https://openalex.org/W3049197283","https://openalex.org/W3117675859","https://openalex.org/W2050839053","https://openalex.org/W3177478306","https://openalex.org/W3192769671","https://openalex.org/W2032248989","https://openalex.org/W2800339728","https://openalex.org/W2137937776","https://openalex.org/W2044804588","https://openalex.org/W3159498171","https://openalex.org/W1490338338","https://openalex.org/W2296459193","https://openalex.org/W3003565648","https://openalex.org/W2028909057"],"abstract_inverted_index":{"Most":[0],"realtime":[1],"human":[2],"pose":[3],"estimation":[4],"approaches":[5],"are":[6],"based":[7],"on":[8,154],"detecting":[9],"joint":[10,15,125,146],"positions.":[11],"Using":[12],"the":[13,17,22,28,31,68,119,141,155],"detected":[14],"positions,":[16],"yaw":[18],"and":[19,42,71,129,158],"pitch":[20],"of":[21,51,73,89],"limbs":[23],"can":[24],"be":[25,46],"computed.":[26],"However,":[27],"roll":[29],"along":[30],"limb,":[32],"which":[33],"is":[34],"critical":[35],"for":[36,66,124,145],"application":[37],"such":[38],"as":[39,48,150],"sports":[40],"analysis":[41],"computer":[43],"animation,":[44],"cannot":[45],"computed":[47],"this":[49,56],"axis":[50],"rotation":[52,72,115],"remains":[53],"unobserved.":[54],"In":[55],"paper":[57],"we":[58],"therefore":[59],"introduce":[60],"orientation":[61],"keypoints,":[62],"a":[63,87],"novel":[64],"approach":[65],"estimating":[67],"full":[69,94],"position":[70],"skeletal":[74],"joints,":[75],"using":[76],"only":[77],"single-frame":[78],"RGB":[79],"images.":[80],"Inspired":[81],"by":[82,127,148,152],"how":[83],"motion-capture":[84],"systems":[85],"use":[86],"set":[88],"point":[90],"markers":[91,101],"to":[92,102,106,161],"estimate":[93],"bone":[95,135],"rotations,":[96],"our":[97],"method":[98,138],"uses":[99],"virtual":[100],"generate":[103],"sufficient":[104],"information":[105],"accurately":[107],"infer":[108],"rotations":[109],"with":[110],"simple":[111],"post":[112],"processing.":[113],"The":[114,137],"predictions":[116],"improve":[117],"upon":[118],"best":[120],"reported":[121],"mean":[122],"error":[123],"angles":[126],"48%":[128],"achieves":[130],"93%":[131],"accuracy":[132],"across":[133],"15":[134],"rotations.":[136],"also":[139],"improves":[140],"current":[142],"state-of-the-art":[143],"results":[144],"positions":[147],"14%":[149],"measured":[151],"MPJPE":[153],"principle":[156],"dataset,":[157],"generalizes":[159],"well":[160],"in-the-wild":[162],"datasets.":[163]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}