Algorithm 1 Human pose estimation.
Require: centroids
1:	for each centroid ∈ centroidsdo
2:	replace by value in previous frame if low confidence value
3:	if end effector, compute valid position using IK
4:	if not end effector, correct centroid value
5:	move corrected centroid to validCentroids
6:	end for
7:	for t ∈ (tk, tk+1) do
8:	add new spline interpolated centroid at t
9:	self-collision checking of interpolated centroid using IK at t
10:	add centroid to validCentroids
11:	end for
12:	return validCentroids