Spacetime constraints revisited
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Shape and Nonrigid Motion Estimation Through Physics-Based Synthesis
IEEE Transactions on Pattern Analysis and Machine Intelligence
Computing the Physical Parameters of Rigid-Body Motion from Video
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Non-parametric Model for Background Subtraction
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Dynamic Models of Human Motion
FG '98 Proceedings of the 3rd. International Conference on Face & Gesture Recognition
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
3D People Tracking with Gaussian Process Dynamical Models
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Proceedings of the 2007 ACM SIGGRAPH symposium on Video games
SIMBICON: simple biped locomotion control
ACM SIGGRAPH 2007 papers
BM3E: Discriminative Density Propagation for Visual Tracking
IEEE Transactions on Pattern Analysis and Machine Intelligence
Continuation methods for adapting simulated skills
ACM SIGGRAPH 2008 papers
Interactive simulation of stylized human locomotion
ACM SIGGRAPH 2008 papers
Contact-aware nonlinear control of dynamic characters
ACM SIGGRAPH 2009 papers
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
Twin Gaussian Processes for Structured Prediction
International Journal of Computer Vision
International Journal of Computer Vision
Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model
IEEE Transactions on Visualization and Computer Graphics
VideoMocap: modeling physically realistic human motion from monocular video sequences
ACM SIGGRAPH 2010 papers
Optimizing walking controllers for uncertain inputs and environments
ACM SIGGRAPH 2010 papers
Sampling-based contact-rich motion control
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Video-based hand manipulation capture through composite motion control
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Diverse motion variations for physics-based character animation
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Motion capture and human pose reconstruction from a single-view video sequence
Digital Signal Processing
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Marker-less motion capture is a challenging problem, particularly when only monocular video is available. We estimate human motion from monocular video by recovering three-dimensional controllers capable of implicitly simulating the observed human behavior and replaying this behavior in other environments and under physical perturbations. Our approach employs a state-space biped controller with a balance feedback mechanism that encodes control as a sequence of simple control tasks. Transitions among these tasks are triggered on time and on proprioceptive events (e.g., contact). Inference takes the form of optimal control where we optimize a high-dimensional vector of control parameters and the structure of the controller based on an objective function that compares the resulting simulated motion with input observations. We illustrate our approach by automatically estimating controllers for a variety of motions directly from monocular video. We show that the estimation of controller structure through incremental optimization and refinement leads to controllers that are more stable and that better approximate the reference motion. We demonstrate our approach by capturing sequences of walking, jumping, and gymnastics.