Footstep parameterized motion blending using barycentric coordinates

TY - JOUR

T1 - Footstep parameterized motion blending using barycentric coordinates

AU - Beacco, Alejandro

AU - Pelechano, Nuria

AU - Kapadia, Mubbasir

AU - Badler, Norman I.

N1 - Funding Information: This work has been partially funded by the Spanish Ministry of Science and Innovation under Grant TIN2013-47137-C2-1-P . A. Beacco is also supported by the Grant FPUAP2009-2195 ( Spanish Ministry of Education ). The research reported in this document/presentation was also performed in connection with Contract number W911NF-10-2-0016 with the U.S. Army Research Laboratory . The views and conclusions contained in this document are those of the authors and should not be interpreted as presenting the official policies or position, either expressed or implied, of the U.S. Army Research Laboratory, or the U.S. Government. Citation of manufacturers or trade names does not constitute an official endorsement or approval of the use thereof. The U.S. Government is authorized to reproduce and distribute reprints for Government purposes not with standing any copyright notation hereon. Publisher Copyright: © 2014 Elsevier Ltd. All rights reserved.

PY - 2015/4

Y1 - 2015/4

N2 - This paper presents a real-time animation system for fully embodied virtual humans that satisfies accurate foot placement constraints for different human walking and running styles. Our method offers a fine balance between motion fidelity and character control, and can efficiently animate over sixty agents in real time (25 FPS) and over a hundred characters at 13 FPS. Given a point cloud of reachable support foot configurations extracted from the set of available animation clips, we compute the Delaunay triangulation. At runtime, the triangulation is queried to obtain the simplex containing the next footstep, which is used to compute the barycentric blending weights of the animation clips. Our method synthesizes animations to accurately follow footsteps, and a simple IK solver adjusts small offsets, foot orientation, and handles uneven terrain. To incorporate root velocity fidelity, the method is further extended to include the parametric space of root movement and combine it with footstep based interpolation. The presented method is evaluated on a variety of test cases and error measurements are calculated to offer a quantitative analysis of the results achieved.

AB - This paper presents a real-time animation system for fully embodied virtual humans that satisfies accurate foot placement constraints for different human walking and running styles. Our method offers a fine balance between motion fidelity and character control, and can efficiently animate over sixty agents in real time (25 FPS) and over a hundred characters at 13 FPS. Given a point cloud of reachable support foot configurations extracted from the set of available animation clips, we compute the Delaunay triangulation. At runtime, the triangulation is queried to obtain the simplex containing the next footstep, which is used to compute the barycentric blending weights of the animation clips. Our method synthesizes animations to accurately follow footsteps, and a simple IK solver adjusts small offsets, foot orientation, and handles uneven terrain. To incorporate root velocity fidelity, the method is further extended to include the parametric space of root movement and combine it with footstep based interpolation. The presented method is evaluated on a variety of test cases and error measurements are calculated to offer a quantitative analysis of the results achieved.

KW - Character animation

KW - Crowd simulation

KW - Footsteps controller

UR - http://www.scopus.com/inward/record.url?scp=84922322564&partnerID=8YFLogxK

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U2 - https://doi.org/10.1016/j.cag.2014.12.004

DO - https://doi.org/10.1016/j.cag.2014.12.004

M3 - Article

SN - 0097-8493

VL - 47

SP - 105

EP - 112

JO - Computers and Graphics

JF - Computers and Graphics

ER -