CS 326 A: Motion PlanningDigital Actor/CharacterSlide 3Some ApplicationsSome ProjectsDigital Actor as Virtual Robot!Synthetic VisionPerception-Based NavigationTreadmill Method: Motion Planning + Motion CapturePath TrackingMultiple CharactersManipulationClasses of MotionCS 326 A: Motion CS 326 A: Motion PlanningPlanninghttp://robotics.stanford.edu/~latombe/cs326/2002Motion Planning for Motion Planning for Digital ActorsDigital ActorsDigital Actor/CharacterDigital Actor/Character?? Parts DOFL 19 68H 51 118Digital Actor/CharacterDigital Actor/CharacterRon FedkiwLeo SibilleSome ApplicationsSome ApplicationsAutonomyInteractivityUser-controlledCompletelyAutonomousOff-line Real-timeKey-frameAnimationSystemsVideo GameAdversariesWebAvatarsDigitalActorsSemi-AutonomousCharactersUrban / FactorySimulationVirtual TourGuidesHistoricalNarratives[Kuffner, 99]Some ProjectsSome ProjectsSynthetic Characters (MIT)Blumberg, et. Al.Marilyn (EPFL/Miralab)Thalmann, et. Al.Artificial Fish (U. Toronto)Tu / TerzopoulosOZ project (CMU)Bates, et. Al.Human Dynamics (GaTech)Hodgkins, et. Al.HFAP (Microsoft)Cohen, et. Al.ENDGAME (Stanford)Koga, et. Al.Jack (U Penn)Badler, et. Al.Digital Actor as Virtual Digital Actor as Virtual Robot!Robot!Virtual Control LoopPlanSenseActSynthetic Vision vs. Robot VisionVision module imageActor camera imageSynthetic VisionSynthetic VisionDistance detectionImage segmentationNoisy dataSegment environmentRender false-color scene off-screen (e.g. 200x200)Scan pixels & record IDsComputing Visibility via HardwarePerception-Based NavigationFast 2DPathPlannerPathPath-Following ControllerBase PointPD ControllerMotionCapture DataSyntheticVisionModuleObstaclesTreadmill Method: Treadmill Method: Motion Planning + Motion Motion Planning + Motion CaptureCaptureWorldHipBasevpWPath TrackingPath TrackingTRACKING DETAILMultiple CharactersMultiple Characters•Following & pursuit behaviors•Maintaining formationsManipulationManipulationReachGrabTransferReleaseReturnClasses of MotionClasses of MotionFinal Fantasy : The Movie (SquareOne)Primary (active) motion: gross body movements, facial animationSecondary (passive) motion: clothes, skin, hair, environmental effectsIndividual vs. crowd motionVirtual Clothes (MIRALAB / Univ. of Geneva)Cloth (Georgia
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