IMU-HOI: A Symbiotic Framework for Coherent Human-Object Interaction and Motion Capture via Contact-Conscious Inertial Fusion

• URL: http://arxiv.org/abs/2606.28604v1
• Date: Fri, 26 Jun 2026 20:52:54 GMT
• Title: IMU-HOI: A Symbiotic Framework for Coherent Human-Object Interaction and Motion Capture via Contact-Conscious Inertial Fusion
• Abstract summary: Inertial measurement units (IMUs) offer a compelling alternative without line-of-sight requirements.<n>Existing IMU-based motion capture assumes an isolated human and ignores object contacts and dynamics.<n>We present IMU-HOI, a novel framework that jointly recovers full-body human pose and 6-DoF object trajectory from sparse IMUs on the body and object.
• Score: 10.990146444777857
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Capturing full-body human motion with object interactions is crucial for AR/VR and robotics applications, yet it remains challenging for conventional vision-based methods due to occlusions and constrained capture volumes. Inertial measurement units (IMUs) offer a compelling alternative without line-of-sight requirements, but existing IMU-based motion capture assumes an isolated human and ignores object contacts and dynamics. To bridge this gap, we present IMU-HOI, a novel framework that jointly recovers full-body human pose and 6-DoF object trajectory from sparse IMUs on the body and object, explicitly modeling human-object interaction. Our approach first infers probabilistic hand-object contacts directly from IMU streams and uses them as a high-level signal to route between kinematic and inertial reasoning. These contact cues drive a three-stage fusion pipeline that refines human pose and root translation, and fuses hand-based forward kinematics with object-IMU integration for object motion, yielding coherent, drift-resilient trajectories for both human and object. Experiments on challenging human-object interaction scenarios demonstrate substantial accuracy gains over prior inertial motion capture methods. Moreover, IMU-HOI can be plugged into existing sparse-IMU mocap backbones with minimal changes, effectively extending the scope of purely inertial motion capture from isolated humans to full human-object interaction and joint motion estimation.

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