LiveHPS: LiDAR-Based Scene-Level Human Pose and Shape Estimation in Free Environment

For human-centric large-scale scenes, fine-grained modeling for 3D human global pose and shape is significant for scene understanding and can benefit many real-world applications. In this paper, we present LiveHPS, a novel single-LiDAR-based approach for scene-level Human Pose and Shape estimation without any limitation of light conditions and wearable devices. In particular, we design a distillation mechanism to mitigate the distribution-varying effect of LiDAR point clouds and exploit the temporal-spatial geometric and dynamic information existing in consecutive frames to solve the occlusion and noise disturbance. LiveHPS, with its efficient configuration and high-quality output, is well-suited for real-world applications. More-over, we propose a huge human motion dataset, named FreeMotion, which is collected in various scenarios with diverse human poses, shapes and translations. It consists of multimodal and multi-view acquisition data from calibrated and synchronized LiDARs, cameras, and IMUs. Extensive experiments on our new dataset and other public datasets demonstrate the SOTA performance and robustness of our approach.