RAPTR: Radar-based 3D Pose Estimation using Transformer

📝 Original Info

• Title: RAPTR: Radar-based 3D Pose Estimation using Transformer
• ArXiv ID: 2511.08387
• Date: 2025-11-11
• Authors: ** 논문에 명시된 저자 정보가 제공되지 않았습니다. (제공되지 않음) **

📝 Abstract

Radar-based indoor 3D human pose estimation typically relied on fine-grained 3D keypoint labels, which are costly to obtain especially in complex indoor settings involving clutter, occlusions, or multiple people. In this paper, we propose \textbf{RAPTR} (RAdar Pose esTimation using tRansformer) under weak supervision, using only 3D BBox and 2D keypoint labels which are considerably easier and more scalable to collect. Our RAPTR is characterized by a two-stage pose decoder architecture with a pseudo-3D deformable attention to enhance (pose/joint) queries with multi-view radar features: a pose decoder estimates initial 3D poses with a 3D template loss designed to utilize the 3D BBox labels and mitigate depth ambiguities; and a joint decoder refines the initial poses with 2D keypoint labels and a 3D gravity loss. Evaluated on two indoor radar datasets, RAPTR outperforms existing methods, reducing joint position error by $34.3\%$ on HIBER and $76.9\%$ on MMVR. Our implementation is available at https://github.com/merlresearch/radar-pose-transformer.

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