Abstract
Recovering high-quality 3D human motion in complex scenes from monocular videos is important for many applications, ranging from AR/VR to robotics. However, capturing realistic human-scene interactions, while dealing with occlusions and partial views, is challenging; current approaches are still far from achieving compelling results. We address this problem by proposing LEMO: LEarning human MOtion priors for 4D human body capture. By leveraging the large-scale motion capture dataset AMASS, we introduce a novel motion smoothness prior, which strongly reduces the jitters exhibited by poses recovered over a sequence. Furthermore, to handle contacts and occlusions occurring frequently in body-scene interactions, we design a contact friction term and a contact-aware motion infiller obtained via per-instance self-supervised training. To prove the effectiveness of the proposed motion priors, we combine them into a novel pipeline for 4D human body capture in 3D scenes. With our pipeline, we demonstrate high-quality 4D human body capture, reconstructing smooth motions and physically plausible body-scene interactions.
Multi-stage Pipeline Overview
Provided a scene mesh and an RGBD sequence with body occlusion, our method recovers a realistic global motion, with natural person-scene interactions. The markers trajectories (left) and accelerations (right) of each stage are shown at the bottom, as well as a walking sequence from AMASS (pink). Note that the results from Stage 1 show large and unrealistic motion accelerations (blue). The recovered motion (green) in Stage 2 is significantly smoother. However, it also loses the realistic accelerations (peaks in the acceleration plot) that can happen when the body interacts with the scene (e.g. foot-to-ground contact during walking). Our recovered motion from Stage 3 (orange) is similar to the high-quality AMASS motion w.r.t. both the trajectory smoothness and the acceleration patterns.
