基于约束的人体运动编辑技术研究
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摘要
近年来,随着运动捕获技术的发展,大量的具有较强真实感的人体运动捕获数据被生成并广泛地应用于计算机动画制作的各个领域。但随之而起的问题是如何更方便、高效地利用运动捕获数据进行计算机人体动画的创作。过去几年中可以看到应用在不同运动编辑工作中的新技术迅速增加,包括一些应用于运动编辑中的商业软件也层出不穷。人体运动编辑工具已经成为计算机动画中最活跃的研究领域之一,并且这一领域在理论和实践上都取得了令人振奋的成就。
研究基于约束的人体运动编辑技术,这些技术能够改变运动的同时保留特定的空间特征。研究人体运动编辑技术的基本理论,对人体层次关节链模型以及运动进行描述,介绍了四元数,给出基于约束的运动编辑的定义。考察不同种类的基于约束的运动编辑方法,根据这些方法施加时间约束的机制的不同对其进行分类。研究了基于关键帧编辑技术、按帧编辑技术、滤波结合按帧编辑技术以及基于时空约束的编辑技术。重点研究了基于关键帧方法以及信号处理与按帧编辑结合的方法,提取了各种改进算法。在此基础上讨论了几种基于约束的运动编辑方法的优缺点并且对它们进行比较,分析了各种技术的适用场合。
利用Matlab、Maya、Motionbuilder等工具实现了各种技术的仿真,并实现了一个小型的运动编辑系统。表现出了各种技术的效果,从而体现了各种技术的差别。
Recently, with the development of technology of motion capture, computer animation has made great progress, and has been widely used in many areas. However, problems occur concerning how to produce animation efficiently and effectively using motion capture data. The past few years have witnessed an explosion of new techniques for various motion editing tasks, as well as the deployment of commercial tools. Tools for assisting with editing human motion have become one of the most active research areas in the field of computer animation and the area has demonstrated some stunning successes in both research and practice.
This paper explores the range of constraint-based techniques used to alter motions while preserving specific spatial features. This paper researches the basic theory of human motion editing with describing the human skeleton hierarchical skeleton model and human motion, introducing the quaternion. After providing the definition of constraint-based motion editing methods, the inverse kinematics solver that solve the spatial constraints is analyzed. This thesis examines a variety of methods, and then defining a taxonomy of these methods that is categorized by the mechanism employed to enforce temporal constraints. Then this paper researches the keyframe-based method、frame-based method、frame-based plus filtering method and the spacetime method which are included in the taxonomy, analyze their performance comparing and contrasting the methods to understand the problems for which each is appropriate.
The simulation of each constrain-based motion editing methods which represent the different performance of different method is created based on Motionbuilder and Maya. A small human motion editing system is created.
研究基于约束的人体运动编辑技术,这些技术能够改变运动的同时保留特定的空间特征。研究人体运动编辑技术的基本理论,对人体层次关节链模型以及运动进行描述,介绍了四元数,给出基于约束的运动编辑的定义。考察不同种类的基于约束的运动编辑方法,根据这些方法施加时间约束的机制的不同对其进行分类。研究了基于关键帧编辑技术、按帧编辑技术、滤波结合按帧编辑技术以及基于时空约束的编辑技术。重点研究了基于关键帧方法以及信号处理与按帧编辑结合的方法,提取了各种改进算法。在此基础上讨论了几种基于约束的运动编辑方法的优缺点并且对它们进行比较,分析了各种技术的适用场合。
利用Matlab、Maya、Motionbuilder等工具实现了各种技术的仿真,并实现了一个小型的运动编辑系统。表现出了各种技术的效果,从而体现了各种技术的差别。
Recently, with the development of technology of motion capture, computer animation has made great progress, and has been widely used in many areas. However, problems occur concerning how to produce animation efficiently and effectively using motion capture data. The past few years have witnessed an explosion of new techniques for various motion editing tasks, as well as the deployment of commercial tools. Tools for assisting with editing human motion have become one of the most active research areas in the field of computer animation and the area has demonstrated some stunning successes in both research and practice.
This paper explores the range of constraint-based techniques used to alter motions while preserving specific spatial features. This paper researches the basic theory of human motion editing with describing the human skeleton hierarchical skeleton model and human motion, introducing the quaternion. After providing the definition of constraint-based motion editing methods, the inverse kinematics solver that solve the spatial constraints is analyzed. This thesis examines a variety of methods, and then defining a taxonomy of these methods that is categorized by the mechanism employed to enforce temporal constraints. Then this paper researches the keyframe-based method、frame-based method、frame-based plus filtering method and the spacetime method which are included in the taxonomy, analyze their performance comparing and contrasting the methods to understand the problems for which each is appropriate.
The simulation of each constrain-based motion editing methods which represent the different performance of different method is created based on Motionbuilder and Maya. A small human motion editing system is created.
引文
[1] David J. Sturman. A brief history of motion capture for computer character animation. Character motion system, SIGGRAPH 94: Course 9
[2]朱永峰,费广正,黄赞榛,张焰.运动捕捉数据重用方法的研究.中国传媒大学学报自然科学版,2007,14(4):46~54
[3] R. N. Bindiganavale. Building Parameterized Action Representations from Observation[Ph.D. thesis]. University of Pennsylvania, 2000
[4] Guo S, Roberge J. A high-level control mechanism for human locomotion based on parametric frame space interpolation. In: Proceedings of Eurographics Workshop on Computer Animation and Simulation 96, 1996: 95~107
[5] C F Rose III. Verbs and Adverbs: Multidimensional motion interpolation using radial basis functions[PhD thesis]. Princeton University, 1999
[6] Shoemake K. Animating rotation with quaternion curves.Computer Graphics, 1985, 19(3): 245~254
[7] Jack B Kuipers. Quaternions Rotation sequences: a primer with applications to orbits, aerospace, and virtual reality[PhD thesis]. Princeton, Princeton University Press, 1998
[8] J Lee, S Y Shin. Multiresolution motion analysis with applications. In: Proceedings of the International Workshop on Human Modeling and Animation, Seoul, 2000: 131~143
[9] K. J. Choi, H.-S. Ko. On-line motion retargeting. J. Visual. Comput. Animation, Nov.2000:223~243
[10] H. J. Shin, J. Lee, M. Gleicher, et al. Computer puppetry: An importance based approach. ACM Trans. Graphics, Aug.2001:126~131
[11] A. Bruderlin, L. Williams. Motion signal processing, In: SIGGRAPH 95 Conference Proceedings, Annual Conference Series, Aug.1995:97~104
[12] J. Lee, S. Y. Shin. A hierarchical approach to interactive motion editing for human-like figures. In: Proceedings of SIGGRAPH 99, Aug.1999: 39~48
[13] J. Lee, S. Yong Shin. Multiresolution Motion Analysis and Synthesis.Graphical Models,Dec.2000,63(2):87~105
[14] Witkin A, Kass M. Spacetime constraints. Computer Graphics, 1988, 22(4): 159~168
[15] Gleicher. M. Motion editing with space time constraints. In: Proceedings of Symposium on Interactive 3D Graphics, Providence, Rhode Island, 1997:139~148
[16] Michael Gleicher, Peter Litwinowicz. Constraint-based motion adaptation. The Journal of Visualization and Computer Animation, 1998, 9(2): 65~94
[17] Callennec B L, Boulic Rose. Interactive motion deformation with ptioritized constraints. In: Proceedings of the 2004 ACM SIGGRAPH, Aug.2004:163~171
[18] Norman I.Badler, Martha S.Palmer, Rama Bindiganavale. Animation control for real-time virtual humans. Communications of the ACM,Aug.1999,42(8):64~73
[19] Alyssa Lees. Learned deformable skeletons for motion capture based animation.Computer graphics and interactive techniques in Australasia and South East Asia, Dec.2006:75~77
[20]李婷.基于运动捕获数据的人体运动编辑技术研究[硕士学位论文].武汉:华中科技大学, 2008
[21] Autodesk, Maya, computer software, 2009
[22] M. Gleicher, Animation from observation: Motion capture and motion editing. Computer Graphics , Jan.2000, 33(4):51~54
[23] Jeong I K,Park K J,Baek S M,et al. Implementation of a motion editing system. In: Proceedings of the Seventh International Conference on Virtual Systems and Multimedia, 2001:761~769
[24] Micheal Gleicher. Comparing constraint-based motion editing methods.Graphical Models, Mar.2001,63(2):107~134
[25] P. C. Litwinowicz, Inkwell. A 2.5–D animation system. In: Computer Graphics (SIGGRAPH’91 Proceedings), Jul.1991,Vol. 25: 113~122
[26] M. Unuma, K. Anjyo, R. Takeuchi. Fourier principles for emotion-based human figure animation. In: SIGGRAPH 95 Conference Proceedings, Annual Conference Series, ACM SIGGRAPH, Addison Wesley, August 1995: 91~96
[27] A. Witkin, Z. Popovi′c. Motion warping. In: SIGGRAPH 95 Conference Proceedings, Annual Conference Series, Aug. 1995:105~108
[28] M. Gleicher. Retargeting motion to new characters. In: SIGGRAPH 98 Conference Proceedings, Annual Conference Series, ACM SIGGRAPH, Addison Wesley, July 1998: 33~42
[29] Lee J H, Shin S Y. General construction of time-domain filters for orientation data. IEEE Transactions on Visualization and Computer Graphics, Apr.2002, 8(2): 119~128
[30] Autodesk, Motionbuilder, computer software, 2006
[31] M. F. Cohen. Interactive spacetime control for animation. Computer Graphics , 1992, 26(2): 293~302
[32]罗忠祥,庄越挺,刘丰.基于时空约束的运动编辑和运动重定向.计算机辅助设计与图形学学报, 2002 , 14(12): 1146 ~1151
[33] R Boulic, N.M. Thalmann, D Thalmann. A Global Human Walling Model with Real-time Kinematics Personification. The Visual Computer, 1990, 6(6): 344~358
[34] J. U. Korein, N. I. Badler. Techniques for generating the goal-directed animation of articulated structures. IEEE Comput. Graphics Appl., 1982, 2(9):71~81
[35] D. Tolani, A. Goswanmi, N. Badler. Real-time inverse kinematics techniques for anthropomorphic limbs.Graphical Models 62, 2000:353~358
[36] R Boulic, P Becheiraz, L Emering, et al. Integration of Motion Control Techniques for Virtual Human and Avatar Real-Time Animation. In: Proceeding of VRST '97, ACM Press, 1997: 111~118
[37] K.H. Ko, N Badler. Animating human locomotion in real-time using inverse dynamics, balance and comfort control. IEEE Computer Graphics and Applications, 1996, 16(2): 50~59
[38] N. I. Badler, K. H. Manoochehri, G.Walters. Articulated figure positioning by multiple constraints. IEEE Comput. Graphics Appl. 1987,7(6): 28~38
[39] C. Welman. Inverse Kinematics and Geometric Constraints for Articulated Figure Manipulation[Master’s thesis]. Simon Frasier University, Sep.1993
[40] C. B. Phillips, N. I. Badler. Interactive behaviors for bipedal articulated figures. Comput. Graphics, 1991,25(4): 359~362
[41] Jonathan Gratch, Jeff Rickel, Elisabeth Andre, et al. Creating Interactive Virtual Humans: Some Assembly Required. IEEE Intelligent Systems, Jul.2002, 17(4):54~63
[2]朱永峰,费广正,黄赞榛,张焰.运动捕捉数据重用方法的研究.中国传媒大学学报自然科学版,2007,14(4):46~54
[3] R. N. Bindiganavale. Building Parameterized Action Representations from Observation[Ph.D. thesis]. University of Pennsylvania, 2000
[4] Guo S, Roberge J. A high-level control mechanism for human locomotion based on parametric frame space interpolation. In: Proceedings of Eurographics Workshop on Computer Animation and Simulation 96, 1996: 95~107
[5] C F Rose III. Verbs and Adverbs: Multidimensional motion interpolation using radial basis functions[PhD thesis]. Princeton University, 1999
[6] Shoemake K. Animating rotation with quaternion curves.Computer Graphics, 1985, 19(3): 245~254
[7] Jack B Kuipers. Quaternions Rotation sequences: a primer with applications to orbits, aerospace, and virtual reality[PhD thesis]. Princeton, Princeton University Press, 1998
[8] J Lee, S Y Shin. Multiresolution motion analysis with applications. In: Proceedings of the International Workshop on Human Modeling and Animation, Seoul, 2000: 131~143
[9] K. J. Choi, H.-S. Ko. On-line motion retargeting. J. Visual. Comput. Animation, Nov.2000:223~243
[10] H. J. Shin, J. Lee, M. Gleicher, et al. Computer puppetry: An importance based approach. ACM Trans. Graphics, Aug.2001:126~131
[11] A. Bruderlin, L. Williams. Motion signal processing, In: SIGGRAPH 95 Conference Proceedings, Annual Conference Series, Aug.1995:97~104
[12] J. Lee, S. Y. Shin. A hierarchical approach to interactive motion editing for human-like figures. In: Proceedings of SIGGRAPH 99, Aug.1999: 39~48
[13] J. Lee, S. Yong Shin. Multiresolution Motion Analysis and Synthesis.Graphical Models,Dec.2000,63(2):87~105
[14] Witkin A, Kass M. Spacetime constraints. Computer Graphics, 1988, 22(4): 159~168
[15] Gleicher. M. Motion editing with space time constraints. In: Proceedings of Symposium on Interactive 3D Graphics, Providence, Rhode Island, 1997:139~148
[16] Michael Gleicher, Peter Litwinowicz. Constraint-based motion adaptation. The Journal of Visualization and Computer Animation, 1998, 9(2): 65~94
[17] Callennec B L, Boulic Rose. Interactive motion deformation with ptioritized constraints. In: Proceedings of the 2004 ACM SIGGRAPH, Aug.2004:163~171
[18] Norman I.Badler, Martha S.Palmer, Rama Bindiganavale. Animation control for real-time virtual humans. Communications of the ACM,Aug.1999,42(8):64~73
[19] Alyssa Lees. Learned deformable skeletons for motion capture based animation.Computer graphics and interactive techniques in Australasia and South East Asia, Dec.2006:75~77
[20]李婷.基于运动捕获数据的人体运动编辑技术研究[硕士学位论文].武汉:华中科技大学, 2008
[21] Autodesk, Maya, computer software, 2009
[22] M. Gleicher, Animation from observation: Motion capture and motion editing. Computer Graphics , Jan.2000, 33(4):51~54
[23] Jeong I K,Park K J,Baek S M,et al. Implementation of a motion editing system. In: Proceedings of the Seventh International Conference on Virtual Systems and Multimedia, 2001:761~769
[24] Micheal Gleicher. Comparing constraint-based motion editing methods.Graphical Models, Mar.2001,63(2):107~134
[25] P. C. Litwinowicz, Inkwell. A 2.5–D animation system. In: Computer Graphics (SIGGRAPH’91 Proceedings), Jul.1991,Vol. 25: 113~122
[26] M. Unuma, K. Anjyo, R. Takeuchi. Fourier principles for emotion-based human figure animation. In: SIGGRAPH 95 Conference Proceedings, Annual Conference Series, ACM SIGGRAPH, Addison Wesley, August 1995: 91~96
[27] A. Witkin, Z. Popovi′c. Motion warping. In: SIGGRAPH 95 Conference Proceedings, Annual Conference Series, Aug. 1995:105~108
[28] M. Gleicher. Retargeting motion to new characters. In: SIGGRAPH 98 Conference Proceedings, Annual Conference Series, ACM SIGGRAPH, Addison Wesley, July 1998: 33~42
[29] Lee J H, Shin S Y. General construction of time-domain filters for orientation data. IEEE Transactions on Visualization and Computer Graphics, Apr.2002, 8(2): 119~128
[30] Autodesk, Motionbuilder, computer software, 2006
[31] M. F. Cohen. Interactive spacetime control for animation. Computer Graphics , 1992, 26(2): 293~302
[32]罗忠祥,庄越挺,刘丰.基于时空约束的运动编辑和运动重定向.计算机辅助设计与图形学学报, 2002 , 14(12): 1146 ~1151
[33] R Boulic, N.M. Thalmann, D Thalmann. A Global Human Walling Model with Real-time Kinematics Personification. The Visual Computer, 1990, 6(6): 344~358
[34] J. U. Korein, N. I. Badler. Techniques for generating the goal-directed animation of articulated structures. IEEE Comput. Graphics Appl., 1982, 2(9):71~81
[35] D. Tolani, A. Goswanmi, N. Badler. Real-time inverse kinematics techniques for anthropomorphic limbs.Graphical Models 62, 2000:353~358
[36] R Boulic, P Becheiraz, L Emering, et al. Integration of Motion Control Techniques for Virtual Human and Avatar Real-Time Animation. In: Proceeding of VRST '97, ACM Press, 1997: 111~118
[37] K.H. Ko, N Badler. Animating human locomotion in real-time using inverse dynamics, balance and comfort control. IEEE Computer Graphics and Applications, 1996, 16(2): 50~59
[38] N. I. Badler, K. H. Manoochehri, G.Walters. Articulated figure positioning by multiple constraints. IEEE Comput. Graphics Appl. 1987,7(6): 28~38
[39] C. Welman. Inverse Kinematics and Geometric Constraints for Articulated Figure Manipulation[Master’s thesis]. Simon Frasier University, Sep.1993
[40] C. B. Phillips, N. I. Badler. Interactive behaviors for bipedal articulated figures. Comput. Graphics, 1991,25(4): 359~362
[41] Jonathan Gratch, Jeff Rickel, Elisabeth Andre, et al. Creating Interactive Virtual Humans: Some Assembly Required. IEEE Intelligent Systems, Jul.2002, 17(4):54~63