{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T22:23:22Z","timestamp":1773786202066,"version":"3.50.1"},"reference-count":55,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2024,5,26]],"date-time":"2024-05-26T00:00:00Z","timestamp":1716681600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Laboratory for Autonomous Systems","award":["RRF-2.3.1-21-2022-00002"],"award-info":[{"award-number":["RRF-2.3.1-21-2022-00002"]}]},{"name":"National Laboratory for Autonomous Systems","award":["RRF-2.3.1-21-2022-00004"],"award-info":[{"award-number":["RRF-2.3.1-21-2022-00004"]}]},{"name":"National Laboratory for Autonomous Systems","award":["TKP2021-NVA-27"],"award-info":[{"award-number":["TKP2021-NVA-27"]}]},{"name":"National Laboratory for Autonomous Systems","award":["TKP2021-NVA-01"],"award-info":[{"award-number":["TKP2021-NVA-01"]}]},{"name":"Artificial Intelligence National Laboratory","award":["RRF-2.3.1-21-2022-00002"],"award-info":[{"award-number":["RRF-2.3.1-21-2022-00002"]}]},{"name":"Artificial Intelligence National Laboratory","award":["RRF-2.3.1-21-2022-00004"],"award-info":[{"award-number":["RRF-2.3.1-21-2022-00004"]}]},{"name":"Artificial Intelligence National Laboratory","award":["TKP2021-NVA-27"],"award-info":[{"award-number":["TKP2021-NVA-27"]}]},{"name":"Artificial Intelligence National Laboratory","award":["TKP2021-NVA-01"],"award-info":[{"award-number":["TKP2021-NVA-01"]}]},{"name":"Hungarian NRDI Office","award":["RRF-2.3.1-21-2022-00002"],"award-info":[{"award-number":["RRF-2.3.1-21-2022-00002"]}]},{"name":"Hungarian NRDI Office","award":["RRF-2.3.1-21-2022-00004"],"award-info":[{"award-number":["RRF-2.3.1-21-2022-00004"]}]},{"name":"Hungarian NRDI Office","award":["TKP2021-NVA-27"],"award-info":[{"award-number":["TKP2021-NVA-27"]}]},{"name":"Hungarian NRDI Office","award":["TKP2021-NVA-01"],"award-info":[{"award-number":["TKP2021-NVA-01"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, we propose a novel, vision-transformer-based end-to-end pose estimation method, LidPose, for real-time human skeleton estimation in non-repetitive circular scanning (NRCS) lidar point clouds. Building on the ViTPose architecture, we introduce novel adaptations to address the unique properties of NRCS lidars, namely, the sparsity and unusual rosetta-like scanning pattern. The proposed method addresses a common issue of NRCS lidar-based perception, namely, the sparsity of the measurement, which needs balancing between the spatial and temporal resolution of the recorded data for efficient analysis of various phenomena. LidPose utilizes foreground and background segmentation techniques for the NRCS lidar sensor to select a region of interest (RoI), making LidPose a complete end-to-end approach to moving pedestrian detection and skeleton fitting from raw NRCS lidar measurement sequences captured by a static sensor for surveillance scenarios. To evaluate the method, we have created a novel, real-world, multi-modal dataset, containing camera images and lidar point clouds from a Livox Avia sensor, with annotated 2D and 3D human skeleton ground truth.<\/jats:p>","DOI":"10.3390\/s24113427","type":"journal-article","created":{"date-parts":[[2024,5,27]],"date-time":"2024-05-27T09:33:31Z","timestamp":1716802411000},"page":"3427","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["LidPose: Real-Time 3D Human Pose Estimation in Sparse Lidar Point Clouds with Non-Repetitive Circular Scanning Pattern"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9930-348X","authenticated-orcid":false,"given":"L\u00f3r\u00e1nt","family":"Kov\u00e1cs","sequence":"first","affiliation":[{"name":"HUN-REN Institute for Computer Science and Control (SZTAKI), Kende utca 13-17, H-1111 Budapest, Hungary"},{"name":"Faculty of Information Technology and Bionics, P\u00e1zm\u00e1ny P\u00e9ter Catholic University, Pr\u00e1ter utca 50\/A, H-1083 Budapest, Hungary"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-1271-6386","authenticated-orcid":false,"given":"Bal\u00e1zs M.","family":"B\u00f3dis","sequence":"additional","affiliation":[{"name":"HUN-REN Institute for Computer Science and Control (SZTAKI), Kende utca 13-17, H-1111 Budapest, Hungary"},{"name":"Faculty of Information Technology and Bionics, P\u00e1zm\u00e1ny P\u00e9ter Catholic University, Pr\u00e1ter utca 50\/A, H-1083 Budapest, Hungary"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3203-0741","authenticated-orcid":false,"given":"Csaba","family":"Benedek","sequence":"additional","affiliation":[{"name":"HUN-REN Institute for Computer Science and Control (SZTAKI), Kende utca 13-17, H-1111 Budapest, Hungary"},{"name":"Faculty of Information Technology and Bionics, P\u00e1zm\u00e1ny P\u00e9ter Catholic University, Pr\u00e1ter utca 50\/A, H-1083 Budapest, Hungary"}]}],"member":"1968","published-online":{"date-parts":[[2024,5,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Zimmermann, C., Welschehold, T., Dornhege, C., Burgard, W., and Brox, T. 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