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CS 326 A: Motion Planning

CS 326 A: Motion Planning. http://robotics.stanford.edu/~latombe/cs326/2002 Motion Planning for Digital Actors. ?. Parts DOF L 19 68 H 51 118. Digital Actor/Character. Digital Actor/Character. Leo Sibille. Ron Fedkiw. Some Applications. Completely Autonomous.

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CS 326 A: Motion Planning

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  1. CS 326 A: Motion Planning http://robotics.stanford.edu/~latombe/cs326/2002 Motion Planning for Digital Actors

  2. ? Parts DOF L 19 68 H 51 118 Digital Actor/Character

  3. Digital Actor/Character Leo Sibille Ron Fedkiw

  4. Some Applications Completely Autonomous Urban / Factory Simulation Video Game Adversaries Historical Narratives Virtual Tour Guides Digital Actors Autonomy Semi-Autonomous Characters Key-frame Animation Systems Web Avatars User-controlled Off-line Real-time Interactivity [Kuffner, 99]

  5. OZ project (CMU) Marilyn (EPFL/Miralab) Synthetic Characters (MIT) Thalmann, et. Al. Bates, et. Al. Blumberg, et. Al. Jack (U Penn) Artificial Fish (U. Toronto) Human Dynamics (GaTech) ENDGAME (Stanford) HFAP (Microsoft) Koga, et. Al. Cohen, et. Al. Hodgkins, et. Al. Badler, et. Al. Tu / Terzopoulos Some Projects

  6. Digital Actor as Virtual Robot! Virtual Control Loop Plan Sense Act

  7. Synthetic Vision Computing Visibility via Hardware • Distance detection • Image segmentation • Noisy data • Segment environment • Render false-color scene off-screen (e.g. 200x200) • Scan pixels & record IDs Actor camera image Synthetic Vision vs. Robot Vision Vision module image

  8. Synthetic Vision Module Fast 2D Path Planner Path-Following Controller Obstacles Path Base Point PD Controller Motion Capture Data Perception-Based Navigation

  9. W  p  Hip World v Base Treadmill Method: Motion Planning + Motion Capture

  10. Path Tracking TRACKING DETAIL

  11. Multiple Characters • Following & pursuit behaviors • Maintaining formations

  12. Manipulation Reach Return Transfer Grab Release

  13. Final Fantasy : The Movie (SquareOne) Virtual Clothes (MIRALAB / Univ. of Geneva) Classes of Motion Cloth (Georgia Tech) Primary (active) motion: gross body movements, facial animation Secondary (passive) motion: clothes, skin, hair, environmental effectsIndividual vs. crowd motion

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