Exploring 3D Human Pose Estimation and Forecasting from the Robot's Perspective: The HARPER Dataset

arXiv:2403.14447v1 Announce Type: new
Abstract: We introduce HARPER, a novel dataset for 3D body pose estimation and forecast in dyadic interactions between users and \spot, the quadruped robot manufactured by Boston Dynamics. The key-novelty is the focus on the robot's perspective, i.e., on the data captured by the robot's sensors. These make 3D body pose analysis challenging because being close to the ground captures humans only partially. The scenario underlying HARPER includes 15 actions, of which 10 involve physical contact …

abstract arxiv boston boston dynamics cs.cv cs.ro data dataset dynamics focus forecast forecasting human interactions key novel perspective robot spot the key type