Reproduce “EgoWholeView: Camera-Only Head-Mounted Capture of Body and Bimanual Hand Motion for Embodied Demonstrations” on OpenResearch
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About this paper
Yaoqing Hu, Xuguo He, Daohan Cui, Yukun Shi, Kai Chen
EgoWholeView captures body and bimanual hand motion in a shared world frame using wearable RGB cameras, with outward views tracking the rig and a downward pair observing the wearer. It fuses per-joint rotations by view reliability and smooths them over time. On DexYCB and UnrealEgo-RW, fusion lowers PA-MPJPE versus monocular averaging, but aligned errors do not validate metric world placement.
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