# Stereo-Inertial Poser: Towards Metric-Accurate Shape-Aware Motion Capture Using Sparse IMUs and a Single Stereo Camera

Source: [Stereo-Inertial Poser: Towards Metric-Accurate Shape-Aware Motion Capture Using Sparse IMUs and a Single Stereo Camera](<https://www.sota2.com/research/paper/69a66c582d603e6de3e3d166>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-04T05:00:19.274Z

Authors: Tutian Tang, Xingyu Ji, Yutong Li, MingHao Liu, Wenqiang Xu, Cewu Lu

Published: 2026-03-02T17:46:38.000Z

## Abstract

Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-effective solutions, which effectively mitigate occlusion and drift issues inherent in single-modality systems. However, they are still limited by metric inaccuracies in global translations stemming from monocular depth ambiguity, and shape-agnostic local motion estimations that ignore anthropometric variations. We present Stereo-Inertial Poser, a real-time motion capture system that leverages a single stereo camera and six IMUs to estimate metric-accurate and shape-aware 3D human motion. By replacing the monocular RGB with stereo vision, our system resolves depth ambiguity through calibrated baseline geometry, enabling direct 3D keypoint extraction and body shape parameter estimation. IMU data and visual cues are fused for predicting drift-compensated joint positions and root movements, while a novel shape-aware fusion module dynamically harmonizes anthropometry variations with global translations. Our end-to-end pipeline achieves over 200 FPS without optimization-based post-processing, enabling real-time deployment. Quantitative evaluations across various datasets demonstrate state-of-the-art performance. Qualitative results show our method produces drift-free global translation under a long recording time and reduces foot-skating effects.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

- [Human Motion Capture on AIST++ (test)](<https://www.sota2.com/research/sota/human-motion-capture-on-aist-plus-plus-test.md>): Human Motion Capture; AIST++ (test); JPE: 29.8.

- [Human Motion Capture on TotalCapture (test)](<https://www.sota2.com/research/sota/human-motion-capture-on-totalcapture-test.md>): Human Motion Capture; TotalCapture (test); JPE (Joint Position Error): 46.5.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2603.02130>)

[PDF](<https://arxiv.org/pdf/2603.02130.pdf>)