RT-Pose introduces a human pose estimation (HPE) dataset and benchmark by integrating a unique combination of calibrated radar ADC data, 4D radar tensors, stereo RGB images, and LiDAR point clouds. This integration marks a significant advancement in studying human pose analysis through multi-modality datasets. The data collection hardware system comprises two RGB cameras, a non-repetitive horizontal scanning LiDAR, and a cascade imaging radar module. We collect the dataset in 40 scenes with indoor and outdoor environments. The dataset comprises 72,000 frames distributed across 240 sequences. The structured organization ensures a realistic distribution of human motions, which is crucial for…