COMETH: Convex Optimization for Modelling, Estimating, and Tracking Humans

Biomechanical model of the human body

Installation

Create the virtual environment (runnning Python 3.7):

python3.7 -m virtualenv .venv
source .venv/bin/activate

Install the dependences:

pip install -m requirements.txt

Create the COMETH package:

pip install -e .

COMETH Applications

Multiview Skeleton Fusion

A novel convex optimization-based framework for real-time multi-view human pose fusion.

Example

To run the complete aggregator example, please refer to this repository:

• sync_dynamic_aggregator.py

Compared Methods

• Boldo et al. 2024
• OpenPTrack

Reference

@article{martini2025cometh,
  title={COMETH: Convex Optimization for Multiview Estimation and Tracking of Humans},
  author={Martini, Enrico and Choi, Ho Jin and Figueroa, Nadia and Bombieri, Nicola},
  doi={https://doi.org/10.48550/arXiv.2508.20920}
  journal={arXiv preprint arXiv:2508.20920},
  year={2025},
}

IMU-HPE Sensor Fusion

A sparse sensor-fusion framework for upper-limb pose estimation with shoulder-mounted IMUs and a single chest-mounted egocentric camera.

Example

A complete example can be found in the Jupyter Notebook IMU-HPE_fusion/test_our_model.ipynb.

Compared Methods

• Li2022 implementation: IMU-HPE_fusion/test_li2022_model.ipynb
• EKF (ZeroVel) implementation: IMU-HPE_fusion/test_ekf_zv_model.ipynb