Many approaches have been proposed for human pose estimation in single and multi-view RGB images. However, some environments, such as the operating room, are still very challenging for state-of-the-art RGB methods. In this paper, we propose an approach for multi-view 3D human pose estimation from RGB-D images and demonstrate the benefits of using the additional depth channel for pose refinement beyond its use for the generation of improved features. The proposed method permits the joint

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... n and estimation of the poses without knowing a priori the number of persons present in the scene. We evaluate this approach on a novel multi-view RGB-D dataset acquired during live surgeries and annotated with ground truth 3D poses.