Multi-camera Torso Pose Estimation using Graph Neural Networks

Daniel Rodriguez-Criado, Pilar Bachiller, Pablo Bustos, George Vogiatzis, Luis J. Manso*

*Corresponding author for this work

Research output: Contribution to conferencePaper


Estimating the location and orientation of humans is an essential skill for service and assistive robots. To achieve a reliable estimation in a wide area such as an apartment, multiple RGBD cameras are frequently used. Firstly, these setups are relatively expensive. Secondly, they seldom perform an effective data fusion using the multiple camera sources at an early stage of the processing pipeline. Occlusions and partial views make this second point very relevant in these scenarios. The proposal presented in this paper makes use of graph neural networks to merge the information acquired from multiple camera sources, achieving a mean absolute error below 125 mm for the location and 10 degrees for the orientation using low-resolution RGB images. The experiments, conducted in an apartment with three cameras, benchmarked two different graph neural network implementations and a third architecture based on fully connected layers. The software used has been released as open-source in a public repository.
Original languageEnglish
Number of pages6
Publication statusPublished - 31 Aug 2020
EventIEEE International Conference on Robot & Human Interactive Communication - Virtual, Italy
Duration: 31 Aug 20204 Sep 2020
Conference number: 29th


ConferenceIEEE International Conference on Robot & Human Interactive Communication
Abbreviated titleRO-MAN
Internet address

Bibliographical note

© 2020 The Authors


  • human tracking
  • graph neural networks
  • sensorised environments

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