Stride Space: Humanoid walking animation interpolation using 3D Delaunay databases

Stride Space: Humanoid walking animation interpolation using 3D Delaunay databases Sybren A. Stuvel - Utrecht University 3371506 Supervisor: Dr. Ir. Arjan Egges Thesis number: INF/SCR-09-63 June 2010 Sybren A. Stuvel Acknowledgements Iwouldliketothankallthepeoplethathavemadethisresearchpossible. Special thanks go to Dr. Ir. Arjan Egges, who has introduced me to motion capture techniques, given me a scientic basis in the eld of computer animation, and provided the concept for this research. I thank MSc. Ben van Basten for his help and interesting discussions, and Drs. Arno Kamphuis for his critical and sometimes dierent point of view. Additionally I would like to thank Ton Rosendaal and the Blender community for carefully and energetically fathering and developing Blender, which I have used extensively throughout my research. And Albert Heijn for their excellent Perla Dark Roast beans. Finally I thank my girlfriend, parents and friends for their inspiration, support, enthusiasm and fondness for elegance. Typesetting in LT X, T Xlive 2009-7 Editing in VIM 7.2.330 Copyright 2010 by Sybren A. Stuvel 2 Stride Space interpolation Sybren A. Stuvel Abstract Precise control over foot placement during character locomotion is crucial to avoid obstacle collision and to produce natural results. We present a new exact parameterization technique for generating humanoid walking animations. Given a database of pre-recorded motion capture data we generate new animations us-ing a spanning neighbours search in a Delaunay database and interpolating those neighbours. Our approach results in exact foot placement while soft constraints such as timing are also taken in account, due to a novel blend candidates selec-tion strategy. We show that this can be done very eciently as to be compatible with real-time applications. Keywords: computer animation, generation, interpolation, real-time, walk Stride Space interpolation 3 Sybren A. Stuvel 4 Stride Space interpolation Contents 1 Introduction 7 1.1 Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2 Related Work 9 2.1 Animation techniques . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2 Manipulating motion capture data . . . . . . . . . . . . . . . . . 10 2.3 Interpolation of animations . . . . . . . . . . . . . . . . . . . . . 11 2.4 Research goals & motivation . . . . . . . . . . . . . . . . . . . . . 13 3 Design and Implementation 15 3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.2 Choice of parameter space . . . . . . . . . . . . . . . . . . . . . . 17 3.3 The Canonical Step . . . . . . . . . . . . . . . . . . . . . . . . . 19 4 Creating the Stride Space 21 4.1 Step segmentation . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.2 The Delaunay Databases . . . . . . . . . . . . . . . . . . . . . . . 22 4.3 Database analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 5 Synthesizing the animation 27 5.1 Determining blend candidates . . . . . . . . . . . . . . . . . . . . 27 5.2 Determining weights for interpolation . . . . . . . . . . . . . . . 30 5.3 Rotational interpolation . . . . . . . . . . . . . . . . . . . . . . . 32 5.4 Positional interpolation . . . . . . . . . . . . . . . . . . . . . . . 34 Stride Space interpolation 5 ... - tailieumienphi.vn