Computational geometry: an introduction
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Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Goal-directed, dynamic animation of human walking
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A global human walking model with real-time kinematic personification
The Visual Computer: International Journal of Computer Graphics - Special issue on computer animation 1989/90
Animation of dynamic legged locomotion
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Interactive spacetime control for animation
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Gross motion planning—a survey
ACM Computing Surveys (CSUR)
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Impulse-based simulation of rigid bodies
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
A probabilistic learning approach to motion planning
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
Randomized query processing in robot path planning
STOC '95 Proceedings of the twenty-seventh annual ACM symposium on Theory of computing
Proceedings of the Eurographics workshop on Computer animation and simulation '96
A random sampling scheme for path planning
International Journal of Robotics Research
Animating rotation with quaternion curves
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
A coordinate-invariant approach to multiresolution motion analysis
Graphical Models
Robot Motion Planning
Motion texture: a two-level statistical model for character motion synthesis
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive motion generation from examples
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive control of avatars animated with human motion data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Motion capture assisted animation: texturing and synthesis
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
General Construction of Time-Domain Filters for Orientation Data
IEEE Transactions on Visualization and Computer Graphics
Verbs and Adverbs: Multidimensional Motion Interpolation
IEEE Computer Graphics and Applications
Animation of Human Walking in Virtual Environments
CA '99 Proceedings of the Computer Animation
Fast Synthetic Vision, Memory, and Learning Models for Virtual Humans
CA '99 Proceedings of the Computer Animation
Realistic synthesis of novel human movements from a database of motion capture examples
HUMO '00 Proceedings of the Workshop on Human Motion (HUMO'00)
Animating Human Locomotion with Inverse Dynamics
IEEE Computer Graphics and Applications
A 2-stages locomotion planner for digital actors
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Precomputing avatar behavior from human motion data
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Evaluating motion graphs for character navigation
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Behavior planning for character animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Fast and accurate goal-directed motion synthesis for crowds
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Trajectory synthesis by hierarchical spatio-temporal correspondence: comparison of different methods
APGV '05 Proceedings of the 2nd symposium on Applied perception in graphics and visualization
Animation planning for virtual characters cooperation
ACM Transactions on Graphics (TOG)
Autonomous behaviors for interactive vehicle animations
Graphical Models - Special issue on SCA 2004
Precomputing avatar behavior from human motion data
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Motion patches: building blocks for virtual environments annotated with motion data
ACM SIGGRAPH 2006 Papers
Fat graphs: constructing an interactive character with continuous controls
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Precomputed search trees: planning for interactive goal-driven animation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive motion correction and object manipulation
Proceedings of the 2007 symposium on Interactive 3D graphics and games
Near-optimal character animation with continuous control
ACM SIGGRAPH 2007 papers
Construction and optimal search of interpolated motion graphs
ACM SIGGRAPH 2007 papers
Evaluating motion graphs for character animation
ACM Transactions on Graphics (TOG)
Proceedings of the 2007 ACM symposium on Virtual reality software and technology
Motion planning and autonomy for virtual humans
ACM SIGGRAPH 2008 classes
Animation planning for virtual characters cooperation
ACM SIGGRAPH 2008 classes
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Interactive motion correction and object manipulation
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ACM SIGGRAPH Asia 2008 papers
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IVA '09 Proceedings of the 9th International Conference on Intelligent Virtual Agents
Robust task-based control policies for physics-based characters
ACM SIGGRAPH Asia 2009 papers
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MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
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MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Path Abstraction for Combined Navigation and Animation
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
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ACM SIGGRAPH 2010 papers
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MICAI'10 Proceedings of the 9th Mexican international conference on Advances in artificial intelligence: Part I
Path-planning for RTS games based on potential fields
MIG'10 Proceedings of the Third international conference on Motion in games
Space-time planning with parameterized locomotion controllers
ACM Transactions on Graphics (TOG)
A hybrid interpolation scheme for footprint-driven walking synthesis
Proceedings of Graphics Interface 2011
Simulating pedestrian behavior with potential fields
CGI'06 Proceedings of the 24th international conference on Advances in Computer Graphics
Plausible locomotion for bipedal creatures using motion warping and inverse kinematics
CGI'06 Proceedings of the 24th international conference on Advances in Computer Graphics
Feature-Based locomotion with inverse branch kinematics
MIG'11 Proceedings of the 4th international conference on Motion in Games
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MIG'11 Proceedings of the 4th international conference on Motion in Games
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EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Precomputed motion maps for unstructured motion capture
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Learning motion controllers with adaptive depth perception
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Finger walking: motion editing with contact-based hand performance
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Precomputed motion maps for unstructured motion capture
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Multi-domain real-time planning in dynamic environments
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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Typical high-level directives for locomotion of human-like characters are useful for interactive games and simulations as well as for off-line production animation. In this paper, we present a new scheme for planning natural-looking locomotion of a biped figure to facilitate rapid motion prototyping and task-level motion generation. Given start and goal positions in a virtual environment, our scheme gives a sequence of motions to move from the start to the goal using a set of live-captured motion clips. Based on a novel combination of probabilistic path planning and hierarchical displacement mapping, our scheme consists of three parts: roadmap construction, roadmap search, and motion generation. We randomly sample a set of valid footholds of the biped figure from the environment to construct a directed graph, called a roadmap, that guides the locomotion of the figure. Every edge of the roadmap is associated with a live-captured motion clip. Augmenting the roadmap with a posture transition graph, we traverse it to obtain the sequence of input motion clips and that of target footprints. We finally adapt the motion sequence to the constraints specified by the footprint sequence to generate a desired locomotion.