Hierarchical Kinematic Probability Distributions for 3D Human Shape and Pose Estimation from Images in the Wild

Abstract

This paper addresses the problem of 3D human body shape and pose estimation from an RGB image. This is often an ill-posed problem, since multiple plausible 3D bodies may match the visual evidence present in the input - particularly when the subject is occluded. Thus, it is desirable to estimate a distribution over 3D body shape and pose conditioned on the input image instead of a single 3D re-construction. We train a deep neural network to estimate a hierarchical matrix-Fisher distribution over relative 3D joint rotation matrices (i.e. body pose), which exploits the human body’s kinematic tree structure, as well as a Gaussian distribution over SMPL body shape parameters. To further ensure that the predicted shape and pose distributions match the visual evidence in the input image, we implement a differentiable rejection sampler to impose a reprojection loss between ground-truth 2D joint coordinates and samples from the predicted distributions, projected onto the image plane. We show that our method is competitive with the state-of-the-art in terms of 3D shape and pose metrics on the SSP-3D and 3DPW datasets, while also yielding a structured probability distribution over 3D body shape and pose, with which we can meaningfully quantify prediction uncertainty and sample multiple plausible 3D reconstructions to explain a given input image.