Figure A4.

OpenPose keypoint detection examples depicting pose estimation during pushing. Blue circles depict the 2D OpenPose keypoint locations with the circle fill colour representing the left (green) and right (red) sides of the body. Cubes depict the 3D reconstructed joint centres for the left (green) and right (red) sides of the body projected onto the 2D image plane. This example demonstrates that limb switching has occurred for the legs but this has largely been corrected during the 3D fusion process. However, further issues can been seen with the left arm where OpenPose has detected joint centres with limited success in multiple fields of view.