viewing keyframes

I know in order to see all your keyframes at once on screen in an animation you select the object and press K. Is there a way to see your keyframes for objects that have been moved with an armature? I don’t mean in the IPO window, I mean you can see the three (or whatever number) poses in the 3D window.

Under the armature panel, there is something marked ‘visualizations’ -maybe there you can allow to see the keyed poses.