{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/tram-global-trajectory-and-motion-of-3d","title":"TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videos","arxiv_id":"2403.17346","date":"2024-03-26","proceeding":null,"authors":["Yufu Wang","ZiYun Wang","Lingjie Liu","Kostas Daniilidis"],"abstract":"We propose TRAM, a two-stage method to reconstruct a human's global trajectory and motion from in-the-wild videos. TRAM robustifies SLAM to recover the camera motion in the presence of dynamic humans and uses the scene background to derive the motion scale. Using the recovered camera as a metric-scale reference frame, we introduce a video transformer model (VIMO) to regress the kinematic body motion of a human. By composing the two motions, we achieve accurate recovery of 3D humans in the world space, reducing global motion errors by a large margin from prior work. https://yufu-wang.github.io/tram4d/","url_abs":"https://arxiv.org/abs/2403.17346v2","url_pdf":"https://arxiv.org/pdf/2403.17346v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"tram-global-trajectory-and-motion-of-3d","repo_url":"https://github.com/yufu-wang/tram","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"3d-human-pose-estimation","task_name":"3D Human Pose Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/3d-human-pose-estimation-on-emdb","task":"3D Human Pose Estimation","dataset":"EMDB","model":"TRAM","rank_in_archive_order":1,"of":13,"metrics":{"Average MPJPE (mm)":"74.4","Average MPJPE-PA (mm)":"45.7","Average MVE (mm)":"86.6"},"uses_additional_data":false}],"syntology":{"syntology_url":"https://syntology.ai/paper/2403.17346","atlas_url":"https://app.syntology.ai/?focus=2403.17346","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2403.17346"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/yufu-wang/tram","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"ran":13,"unverified":1},"by_repo_kind":{"official":{"samples":14,"ran":13,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"f97f0472c6ce0b65","entry":"cam_wrt_gravity","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/camera/est_gravity.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/camera/est_gravity.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"f97f0472c6ce0b65"}},{"code_sha256_prefix":"51f1f7730e448854","entry":"cam_wrt_world","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/camera/est_gravity.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/camera/est_gravity.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"51f1f7730e448854"}},{"code_sha256_prefix":"47e67073b5581024","entry":"compute_l2_loss","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/core/losses.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/core/losses.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"47e67073b5581024"}},{"code_sha256_prefix":"2dcee438683ee8a4","entry":"est_calib","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/camera/slam_utils.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/camera/slam_utils.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"2dcee438683ee8a4"}},{"code_sha256_prefix":"e4c8b52fda09392f","entry":"est_scale_gmof","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/camera/est_scale.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/camera/est_scale.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"e4c8b52fda09392f"}},{"code_sha256_prefix":"43f07fe60d9771d9","entry":"est_scale_iterative","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/camera/est_scale.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/camera/est_scale.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"43f07fe60d9771d9"}},{"code_sha256_prefix":"3d45d8fea0a6ba6f","entry":"get_dimention","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/camera/slam_utils.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/camera/slam_utils.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"3d45d8fea0a6ba6f"}},{"code_sha256_prefix":"9b09946e117bbab5","entry":"get_lr_cycle_scheduler","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/core/base_trainer.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/core/base_trainer.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"9b09946e117bbab5"}},{"code_sha256_prefix":"9b438214a4dff91b","entry":"get_lr_scheduler","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/core/base_trainer.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/core/base_trainer.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"9b438214a4dff91b"}},{"code_sha256_prefix":"ddd90785d243b136","entry":"keypoint_loss","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/core/losses.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/core/losses.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"ddd90785d243b136"}},{"code_sha256_prefix":"8a1791646b3bf7ea","entry":"parse_args","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/core/config.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/core/config.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"8a1791646b3bf7ea"}},{"code_sha256_prefix":"87f90af29b982adb","entry":"preprocess_masks","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/camera/slam_utils.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/camera/slam_utils.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"87f90af29b982adb"}},{"code_sha256_prefix":"8cae4a5d48fbd269","entry":"update_cfg","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/core/config.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/core/config.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"8cae4a5d48fbd269"}},{"code_sha256_prefix":"df63348c72c98591","entry":"keypoint_3d_loss","repo":"yufu-wang/tram","repo_kind":"official","path":"lib/core/losses.py","file_url":"https://github.com/yufu-wang/tram/blob/HEAD/lib/core/losses.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"df63348c72c98591"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}