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A skeletal pose estimation method, named RVRU-Pose, is proposed to estimate the skeletal pose of vulnerable road users based on distributed non-coherent mmWave radar. In view of the limitation that existing methods for skeletal pose estimation are only applicable to small scenes, this paper proposes a strategy that combines radar intensity heatmaps and coordinate heatmaps as input to a deep learning network. In addition, we design a multi-resolution data augmentation and training method suitable for radar to achieve target pose estimation for remote and multi-target application scenarios. Experimental results show that RVRU-Pose can achieve better than 2 cm average localization accuracy for different subjects in different scenarios, which is superior in terms of accuracy and time compared to existing state-of-the-art methods for human skeletal pose estimation with radar. As an essential performance parameter of radar, the impact of angular resolution on the estimation accuracy of a skeletal pose is quantitatively analyzed and evaluated in this paper. Finally, RVRU-Pose has also been extended to the task of estimating the skeletal pose of a cyclist, reflecting the strong scalability of the proposed method. [ABSTRACT FROM AUTHOR]