Domes to Drones: Self-Supervised Active Triangulation for 3D Human Pose Reconstruction

Existing state-of-the-art estimation systems can detect 2d poses of multiple people in images quite reliably. In contrast, 3d pose estimation from a single image is ill-posed due to occlusion and depth ambiguities. Assuming access to multiple cameras, or given an active system able to position itself to observe the scene from multiple viewpoints, reconstructing 3d pose from 2d measurements becomes well-posed within the framework of standard multi-view geometry. Less clear is what is an informative set of viewpoints for accurate 3d reconstruction, particularly in complex scenes, where people are occluded by others or by scene objects. In order to address the view selection problem in a principled way, we here introduce ACTOR, an active triangulation agent for 3d human pose reconstruction.