CRB-Guided Sensing and Resource Allocation for Human Pose Prediction in Integrated Sensing, Communication, and Computation Systems

Abstract

Integrated sensing, communication, and computation (ISCC) provides a promising framework for indoor human-centric applications. In these applications, short-term human pose prediction facilitates continuous human pose tracking and proactive resource allocation. This paper proposes a Cramer-Rao bound (CRB)-guided sensing framework and investigates a problem of minimizing prediction error in resource-constrained ISCC systems. Specifically, a pose prediction model (ET-Mamba) is first developed to predict human joint positions for continuous tracking. To account for computation-resource limitations, lightweight prediction heads are attached to different inference layers, enabling adaptive-depth pose prediction. A CRB-guided perturbation strategy is then introduced to translate sensing uncertainty at different sensing SNR levels into point-cloud perturbations. Based on that, an empirical relationship among pose prediction error, sensing SNR, and model inference depth is established. Furthermore, to improve prediction accuracy under limited resources, this paper formulates a resource allocation optimization problem that minimizes the pose prediction error by jointly optimizing the beamforming matrix, model inference depth, and computation frequency. To solve this mixed-integer non-convex optimization problem, we propose an alternating optimization (AO)-based algorithm, where closed-form updates and semidefinite programming (SDP) are integrated into the iterative solution process. Simulation results show that the proposed method effectively improves pose prediction performance by up to 35 percent under resource constraints, verifying the effectiveness of conducting joint sensing, communication, and computation design in ISCC systems.