HPS Dataset

Data License

For non-commercial and scientific research purposes

Please read carefully the following terms and conditions and any accompanying documentation before you download and/or use the HPS Dataset (the "Data"). By downloading and/or using the Data, you acknowledge that you have read these terms and conditions, understand them, and agree to be bound by them. If you do not agree with these terms and conditions, you must not download and/or use the Data.


The Data has been developed at the Max Planck Institute and is owned by and proprietary material of the Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. (hereinafter “MPG”; MPI and MPG hereinafter collectively “Max-Planck”).

License Grant

Max-Planck grants you a non-exclusive, non-transferable, free of charge right: To install the Data on computers owned, leased or otherwise controlled by you and/or your organisation; To use the Data for the sole purpose of performing non-commercial scientific research. Any other use, in particular any use for commercial purposes, is prohibited. This includes, without limitation, incorporation in a commercial product, use in a commercial service, or production of other artefacts for commercial purposes including, for example, 3D models, movies, or video games. The Data may not be reproduced, modified and/or made available in any form to any third party without Max-Planck’s prior written permission.

Disclaimer of Representations and Warranties

You expressly acknowledge and agree that the Data results from basic research, is provided “AS IS”, may contain errors, and that any use of the Data is at your sole risk. MAX-PLANCK MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND CONCERNING THE CODE, NEITHER EXPRESS NOR IMPLIED, AND THE ABSENCE OF ANY LEGAL OR ACTUAL DEFECTS, WHETHER DISCOVERABLE OR NOT. Specifically, and not to limit the foregoing, Max-Planck makes no representations or warranties (i) regarding the merchantability or fitness for a particular purpose of the Data, (ii) that the use of the Data will not infringe any patents, copyrights or other intellectual property rights of a third party, and (iii) that the use of the Data will not cause any damage of any kind to you or a third party.

Limitation of Liability

Under no circumstances shall Max-Planck be liable for any incidental, special, indirect or consequential damages arising out of or relating to this license, including but not limited to, any lost profits, business interruption, loss of programs or other data, or all other commercial damages or losses, even if advised of the possibility thereof.

No Maintenance Services

You understand and agree that Max-Planck is under no obligation to provide either maintenance services, update services, notices of latent defects, or corrections of defects with regard to the Data. Max-Planck nevertheless reserves the right to update, modify, or discontinue the Data at any time.

Publication with HPS

You agree to cite the corresponding CVPR'21 paper when reporting results with this dataset. This website lists the most up to date bibliographic information on the front page.


If you use this dataset, you agree to cite the corresponding CVPR'21 paper:
    title = {Human POSEitioning System (HPS): 3D Human Pose Estimation and Self-localization in Large Scenes from Body-Mounted Sensors},
    author = {Guzov, Vladimir and Mir, Aymen and Sattler, Torsten and Pons-Moll, Gerard},
    booktitle = {{IEEE} Conference on Computer Vision and Pattern Recognition (CVPR)},
    month = {jun},
    organization = {{IEEE}},
    year = {2021},


By downloading the Data, you agree to the license terms. The full dataset is available as "3D scene scans", "Videos from the head-mounted camera", "Localization results for the videos", "Original IMU poses (adopted for SMPL)" and "HPS results". The description of the files is explained in the Demo repository.
  • Demo repository
  • 3D scene scans
  • Videos from the head-mounted camera
  • Localization results for the videos
  • Initialization files
  • Original IMU poses (adapted for SMPL)
  • Scenes used for optimization
  • IMU data in the form MVNX files
  • Subject Beta files
  • Predefined Vertex Files
  • HPS results