RadPose: ISAC-based RF 3D Human Pose Estimation

Abstract

Human pose estimation under adverse lighting and occlusion conditions remains challenging for camera- and LiDAR-based systems. Although mmWave radars provide robustness to illumination and occlusion, they rely on dedicated hardware and licensed spectrum, limiting scalability. In this paper, we present RadPose, a learning-based monostatic integrated sensing and communication (ISAC) framework that enables commodity mmWave communication devices to perform 3D human pose estimation. Unlike specialized radars, RadPose leverages monostatic full-duplex operation to extract channel impulse responses (CIRs) directly from standard OFDM communication signals, generating 3D radio point clouds without additional sensing hardware. To address the sparsity and noise of RF observations, RadPose employs a cross-frame transformer-based pose inference network with semantic-guided spatial attention and target-driven temporal attention for robust spatio-temporal aggregation. It further adopts a joint-aware inverse kinematics refinement module based on graph convolution to enforce skeletal topology, bone-length consistency, and anatomical plausibility. Extensive experiments demonstrate RadPose achieves competitive accuracy compared to state-of-the-art radar-based approaches while maintaining robust performance in unseen and occluded scenarios.

Details

Below is the demo video showing how to collect Radar data and its corresponding LiDAR point clouds.

Demo Video: