Mocap Anywhere: Towards Pairwise-Distance based Motion Capture in the Wild (for the Wild)
Ofir Abramovich, Ariel Shamir, Andreas Aristidou

TL;DR
This paper presents a novel, camera-free motion capture system using sparse pairwise distance measurements from body-mounted sensors, enabling real-time, robust 3D motion reconstruction in outdoor and uncontrolled environments.
Contribution
The introduction of Wild-Poser, a Transformer-based architecture that predicts 3D joint positions from noisy distance data without needing shape fitting or individual measurements.
Findings
Achieves low joint position error in real-time
Works for both human and animal subjects in the wild
Operates robustly without external cameras or environmental constraints
Abstract
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…
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Taxonomy
TopicsRobotic Locomotion and Control · Inertial Sensor and Navigation · Human Motion and Animation
