HUMAN4D is a large multimodal 4D dataset for pose estimation, covering a variety of human activities collected by professional marker-based MoCap, volumetric capture system and audio recording system. By collecting full-body movements and expressions of 2 female actors and 2 male actors, HUMAN4D provides a diverse set of movements and poses as part of single/multi-person daily activities, physical activities and social activities (jumping, dancing, etc.), while also providing multi-RGBD (mRGBD), volumetric data and audio data.