无需标定，用激光雷达+移动相机实现开放环境多人动作捕捉
FreeCap: Hybrid Calibration-Free Motion Capture in Open Environments
- 融合单个激光雷达与可扩展移动摄像头，统一世界坐标系
- 跨传感器人体匹配模块在无标定条件下仍能精准对齐
- 支持动态增加摄像头提升精度，适合复杂场景应用
我们提出一种新型混合无标定方法 FreeCap，可在开放环境中准确捕捉多人全局动作。系统结合单个激光雷达与可扩展的移动摄像头，实现统一世界坐标系下的灵活高精度动作估计。特别地，引入局部到全局的姿态感知跨传感器人体匹配模块，即使在无标定情况下也能预测各传感器间的对齐关系。此外，粗到精的可扩展姿态优化器进一步优化3D人体关键点及对齐，支持新增摄像头以提升精度。在Human-M3和FreeMotion数据集上的大量实验表明，该方法显著优于现有单模态方法，为多场景应用提供可扩展、高效的多人动作捕捉解决方案。
原文摘要 · Abstract (English)
We propose a novel hybrid calibration-free method FreeCap to accurately capture global multi-person motions in open environments. Our system combines a single LiDAR with expandable moving cameras, allowing for flexible and precise motion estimation in a unified world coordinate. In particular, We introduce a local-to-global pose-aware cross-sensor human-matching module that predicts the alignment among each sensor, even in the absence of calibration. Additionally, our coarse-to-fine sensor-expandable pose optimizer further optimizes the 3D human key points and the alignments, it is also capable of incorporating additional cameras to enhance accuracy. Extensive experiments on Human-M3 and FreeMotion datasets demonstrate that our method significantly outperforms state-of-the-art single-modal methods, offering an expandable and efficient solution for multi-person motion capture across various applications.
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