Provided herein are systems and methods for estimating contact pressure of a human lying on a surface including one or more imaging devices having imaging sensors oriented toward the surface, a processor and memory, including a trained model for estimating human contact pressure trained with a dataset including a plurality of human lying poses including images generated from at least one of a plurality of imaging modalities including at least one of a red-green-blue modality, a long wavelength infrared modality, a depth modality, or a pressure map modality, wherein the processor can receive one or more images from the imaging devices of the human lying on the surface and a source of one or more physical parameters of the human to determine a pressure map of the human based on the one or more images and the one or more physical parameters.