We introduce HuMoR: a 3D Human Motion Model for Robust Estimation of temporal pose and shape. Though substantial progress has been made in estimating 3D human motion and shape from dynamic observations, recovering plausible pose sequences in the presence of noise and occlusions remains a challenge. For this purpose, we propose an expressive generative model in the form of a conditional variational autoencoder, which learns a distribution of the change in pose at each step of a motion sequence. Furthermore, we introduce a flexible optimization-based approach that leverages HuMoR as a motion prior to robustly estimate plausible pose and shape from ambiguous observations. Through extensive evaluations, we demonstrate that our model generalizes to diverse motions and body shapes after training on a large motion capture dataset, and enables motion reconstruction from multiple input modalities including 3D keypoints and RGB(-D) videos.

引入了HuMoR：一种用于鲁棒估计时间姿态和形状的3D人体运动模型。该模型是一个表达能力强的条件变分自编码器生成模型，学习了运动序列每一步姿态变化的分布。通过灵活的优化方法，可以利用HuMoR运动先验知识从模糊的观察中鲁棒地估计出合理的姿态和形状。经过广泛的评估，证明我们的模型在大量运动捕捉数据集上训练后，可以推广到多样化的动作和身体形状，并且可以从多种输入模态（包括3D关键点和RGB(-D)视频）重建运动。

HuMoR: 坚韧姿态估计的 3D 人体运动模型