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arXiv · 2508.03578

RadProPoser: Probabilistic Radar Tensor Human Pose Estimation That Knows Its Limits

Jonas Leo Mueller·Lukas Engel·Eva Dorschky·Daniel Krauss·Ingrid Ullmann·Martin Vossiek·Bjoern M. Eskofier
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Abstract

Radar-based human pose estimation enables privacy-preserving motion tracking for ambient intelligence, yet the noisy nature of radar sensing makes uncertainty quantification essential. We present RadProPoser, an end-to-end probabilistic framework that predicts three-dimensional body joints with per-joint uncertainties from raw radar tensor data. Using a variational encoder-decoder with spectral attention that fuses real and imaginary radar components across temporal frames, we model aleatoric uncertainty through learnable Gaussian and Laplace distributions. Trained on a new benchmark dataset with optical motion-capture ground truth, our method achieves 6.425 cm mean per-joint position error. The model outputs per-joint aleatoric uncertainties, and isotonic recalibration yields calibrated total uncertainty with expected calibration error of 0.027. Since spectral attention operates on individual radar tensor components, extending to multi-radar configurations requires only concatenating additional input streams. On the HuPR benchmark with dual orthogonal radars, this achieves 5.042 cm MPJPE. The framework runs at 89 frames per second (FPS) on an NVIDIA RTX 3090, exceeding the 15 Hz radar frame rate.

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Jonas Leo Mueller, Lukas Engel, Eva Dorschky, Daniel Krauss, Ingrid Ullmann, Martin Vossiek, Bjoern M. Eskofier. 2025-08-05. RadProPoser: Probabilistic Radar Tensor Human Pose Estimation That Knows Its Limits. https://arxiv.org/abs/2508.03578

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