用无线传感器测距离，实现户外无摄像头的全身动作捕捉。
Mocap Anywhere: Towards Pairwise-Distance based Motion Capture in the Wild (for the Wild)
- 仅靠体佩戴的无线传感器测量点间距离，不依赖外部相机。
- 实时重建人体与动物在野外的3D动作，误差低且抗干扰强。
- 无需个体体型数据，通用性强，适合低成本大规模应用。
我们提出一种新型动作捕捉系统，仅通过体佩戴式超宽带（UWB）传感器的稀疏点对距离（PWD）测量，重建全身3D动作。利用无线节点间飞行时间测距，该方法无需外部摄像头，可在非受控和户外环境中稳定运行。与传统光学或惯性系统不同，本方法具有形状无关性，且不受光照、磁干扰等环境因素影响。核心是Wild-Poser（WiP），一个紧凑、实时的Transformer架构，可直接从噪声或损坏的PWD数据中预测3D关节位置，后续可通过学习方法重构关节旋转。WiP能跨不同体型人群（包括非人类物种）泛化，无需个体体型测量或形态拟合。系统实时运行，实现低关节位置误差，并成功在真实野外场景中准确重建人与动物的动作。实证分析表明，该系统具备在真实世界中规模化、低成本、通用化的潜力。
原文摘要 · Abstract (English)
We introduce a novel motion capture system that reconstructs full-body 3D motion using only sparse pairwise distance (PWD) measurements from body-mounted(UWB) sensors. Using time-of-flight ranging between wireless nodes, our method eliminates the need for external cameras, enabling robust operation in uncontrolled and outdoor environments. Unlike traditional optical or inertial systems, our approach is shape-invariant and resilient to environmental constraints such as lighting and magnetic interference. At the core of our system is Wild-Poser (WiP for short), a compact, real-time Transformer-based architecture that directly predicts 3D joint positions from noisy or corrupted PWD measurements, which can later be used for joint rotation reconstruction via learned methods. WiP generalizes across subjects of varying morphologies, including non-human species, without requiring individual body measurements or shape fitting. Operating in real time, WiP achieves low joint position error and demonstrates accurate 3D motion reconstruction for both human and animal subjects in-the-wild. Our empirical analysis highlights its potential for scalable, low-cost, and general purpose motion capture in real-world settings.
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