SLOPER4D: A Scene-Aware Dataset for Global 4D Human Pose Estimation in Urban Environments

200 meters (up to 1,300 meters) and covers an area of more than 2,000 m 2 (up to 13,000 m 2 ), including more than 100K LiDAR frames, 300k video frames, and 500K IMUbased motion frames. With SLOPER4D, we provide a detailed and thorough analysis of two critical tasks, including camera-based 3D HPE and LiDAR-based 3D HPE in urban environments, and benchmark a new task, GHPE. The indepth analysis demonstrates SLOPER4D poses significant challenges to existing methods and produces great research opportunities. The dataset and code are released at http: //www.lidarhumanmotion.net/sloper4d/.