Introduction to theoretical kinematics
Introduction to theoretical kinematics
Joint-dependent local deformations for hand animation and object grasping
Proceedings on Graphics interface '88
Matrix animation and polar decomposition
Proceedings of the conference on Graphics interface '92
Anatomy-based modeling of the human musculature
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Animating rotation with quaternion curves
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
SIAM Journal on Numerical Analysis
Pose space deformation: a unified approach to shape interpolation and skeleton-driven deformation
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Spherical averages and applications to spherical splines and interpolation
ACM Transactions on Graphics (TOG)
Avatar kinematics modeling for telecollaborative virtual environments
Proceedings of the 32nd conference on Winter simulation
On-line locomotion generation based on motion blending
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Multi-weight enveloping: least-squares approximation techniques for skin animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
EigenSkin: real time large deformation character skinning in hardware
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Linear combination of transformations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive skeleton-driven dynamic deformations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Articulated body deformation from range scan data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Means and Averaging in the Group of Rotations
SIAM Journal on Matrix Analysis and Applications
Modeling 3D Euclidean Geometry
IEEE Computer Graphics and Applications
Building efficient, accurate character skins from examples
ACM SIGGRAPH 2003 Papers
Energy-minimizing splines in manifolds
ACM SIGGRAPH 2004 Papers
Modeling deformable human hands from medical images
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Spherical blend skinning: a real-time deformation of articulated models
Proceedings of the 2005 symposium on Interactive 3D graphics and games
Creating and Simulating Skeletal Muscle from the Visible Human Data Set
IEEE Transactions on Visualization and Computer Graphics
ACM SIGGRAPH 2005 Papers
SCAPE: shape completion and animation of people
ACM SIGGRAPH 2005 Papers
Mean value coordinates for closed triangular meshes
ACM SIGGRAPH 2005 Papers
Outside-in anatomy based character rigging
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
The maple symbolic computation system
ACM SIGSAM Bulletin
Capturing and animating skin deformation in human motion
ACM SIGGRAPH 2006 Papers
Curve skeleton skinning for human and creature characters: Research Articles
Computer Animation and Virtual Worlds - CASA 2006
Animation space: A truly linear framework for character animation
ACM Transactions on Graphics (TOG)
OpenGL(R) Programming Guide: The Official Guide to Learning OpenGL(R), Version 2 (5th Edition) (OpenGL)
Visualizing Quaternions (The Morgan Kaufmann Series in Interactive 3D Technology)
Visualizing Quaternions (The Morgan Kaufmann Series in Interactive 3D Technology)
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Skinning with dual quaternions
Proceedings of the 2007 symposium on Interactive 3D graphics and games
Deformation styles for spline-based skeletal animation
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Harmonic coordinates for character articulation
ACM SIGGRAPH 2007 papers
Automatic rigging and animation of 3D characters
ACM SIGGRAPH 2007 papers
Real-time enveloping with rotational regression
ACM SIGGRAPH 2007 papers
A comparison of linear skinning techniques for character animation
AFRIGRAPH '07 Proceedings of the 5th international conference on Computer graphics, virtual reality, visualisation and interaction in Africa
Computation of rotation minimizing frames
ACM Transactions on Graphics (TOG)
Applications of conformal geometric algebra in computer vision and graphics
IWMM'04/GIAE'04 Proceedings of the 6th international conference on Computer Algebra and Geometric Algebra with Applications
Reusable skinning templates using cage-based deformations
ACM SIGGRAPH Asia 2008 papers
Analytic simplification of animated characters
Proceedings of the 6th International Conference on Computer Graphics, Virtual Reality, Visualisation and Interaction in Africa
Automatic linearization of nonlinear skinning
Proceedings of the 2009 symposium on Interactive 3D graphics and games
Low-Cost Multi-image Based 3D Human Body Modeling
MIRAGE '09 Proceedings of the 4th International Conference on Computer Vision/Computer Graphics CollaborationTechniques
Exact volume preserving skinning with shape control
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Frankenrigs: building character rigs from multiple sources
Proceedings of the 2010 ACM SIGGRAPH symposium on Interactive 3D Graphics and Games
ACM Transactions on Graphics (TOG)
Active geometry for game characters
MIG'10 Proceedings of the Third international conference on Motion in games
Efficient elasticity for character skinning with contact and collisions
ACM SIGGRAPH 2011 papers
Bounded biharmonic weights for real-time deformation
ACM SIGGRAPH 2011 papers
Solid simulation with oriented particles
ACM SIGGRAPH 2011 papers
Global registration of dynamic range scans for articulated model reconstruction
ACM Transactions on Graphics (TOG)
Physics-based character skinning using multi-domain subspace deformations
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Steady affine motions and morphs
ACM Transactions on Graphics (TOG)
Stretchable and Twistable Bones for Skeletal Shape Deformation
Proceedings of the 2011 SIGGRAPH Asia Conference
Technical Section: Skeleton driven animation based on implicit skinning
Computers and Graphics
Spherical skinning with dual quaternions and QTangents
ACM SIGGRAPH 2011 Talks
Real-time motion effect enhancement based on fluid dynamics in figure animation
Proceedings of the 10th International Conference on Virtual Reality Continuum and Its Applications in Industry
Fabricating articulated characters from skinned meshes
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Fast automatic skinning transformations
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Example-based inverse kinematics using cage
Computer Animation and Virtual Worlds
Smooth Shape-Aware Functions with Controlled Extrema
Computer Graphics Forum
Elasticity-inspired deformers for character articulation
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
RigMesh: automatic rigging for part-based shape modeling and deformation
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Smooth skinning decomposition with rigid bones
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Simultaneous shape and pose adaption of articulated models using linear optimization
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part I
Content-aware exaggerated editing for life-like captured animations
Proceedings of the 9th European Conference on Visual Media Production
Interactive virtual try-on based on real-time motion capture
PCM'12 Proceedings of the 13th Pacific-Rim conference on Advances in Multimedia Information Processing
Two-layer sparse compression of dense-weight blend skinning
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Implicit skinning: real-time skin deformation with contact modeling
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Differential blending for expressive sketch-based posing
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
ACM Transactions on Graphics (TOG)
SMI 2013: Shape modeling for animated characters using ordinary differential equations
Computers and Graphics
Mathematical description of motion and deformation: from basics to graphics applications
SIGGRAPH Asia 2013 Courses
Geometric algebra rotors for skinned character animation blending
SIGGRAPH Asia 2013 Technical Briefs
Bounded biharmonic weights for real-time deformation
Communications of the ACM
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Skinning of skeletally deformable models is extensively used for real-time animation of characters, creatures and similar objects. The standard solution, linear blend skinning, has some serious drawbacks that require artist intervention. Therefore, a number of alternatives have been proposed in recent years. All of them successfully combat some of the artifacts, but none challenge the simplicity and efficiency of linear blend skinning. As a result, linear blend skinning is still the number one choice for the majority of developers. In this article, we present a novel skinning algorithm based on linear combination of dual quaternions. Even though our proposed method is approximate, it does not exhibit any of the artifacts inherent in previous methods and still permits an efficient GPU implementation. Upgrading an existing animation system from linear to dual quaternion skinning is very easy and has a relatively minor impact on runtime performance.