Figure 3.

An overview of the proposed pose estimation pipeline given initial possibly corrupted estimations of the skeleton joint positions provided per frame by the pose estimation software for depth cameras, such as the Kinect SDK v2 or the SDK for Intel RealSense D435: Our framework performs a refinement based on symmetry constraints between the left and right body parts as well as the constraint for constant lengths of skeletal parts. Furthermore, outliers detected within the initial joint location estimates are counteracted by additional joint location estimates predicted based on temporal observations.