A system for estimating a three dimensional pose of one or more persons in a scene is disclosed herein. The system includes one or more cameras and a data processor configured to execute computer executable instructions. The computer executable instructions include: (i) receiving one or more images of the scene from the one or more cameras; (ii) extracting features from the one or more images of the scene for providing inputs to a first branch pose estimation neural network and second branch pose estimation neural network; (iii) generating a first training signal from the second branch pose estimation neural network using a three dimensional reconstruction module for input into the first branch pose estimation neural network; (iv) generating one or more volumetric heatmaps; and (v) applying a maximization function to the one or more volumetric heatmaps to obtain a 3D pose of one or more persons in the scene.