In this paper, a new technique for modeling textured 3D faces is introduced. 3D faces can either be generated automatically from one or more photographs, or modeled directly through an intuitive user interface. Users are assisted in two key problems of computer aided face modeling. First, new face images or new 3D face models can be registered automatically by computing dense one-to-one correspondence to an internal face model. Second, the approach regulates the naturalness of modeled faces avoiding faces with an ''unlikely'' appearance Starting from an example set of 3D face models, we derive a morphable face model by transforming the shape and texture of the examples into a vector space representation. New faces and expressions can be modeled by forming linear combinations of the prototypes. Shape and texture constraints derived from the statistics of our example faces are used to guide manual modeling or automated matching algorithms We show 3D face reconstructions from single images and their applications for photo-realistic image manipulations. We also demonstrate face manipulations according to complex parameters such as gender, fullness of a face or its distinctiveness.

A morphable model for the synthesis of 3D faces

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.

Planning biped locomotion using motion capture data and probabilistic roadmaps = 동작 포착 데이터 및 확률적 로드맵을 이용한 이족 이동 동작 계획

In human crowds, interactions among individuals give rise to a variety of self-organized collective motions that help the group to effectively solve the problem of coordination. However, it is still not known exactly how humans adjust their behavior locally, nor what are the direct consequences on the emergent organization. One of the underlying mechanisms of adjusting individual motions is the stepping dynamics. In this paper, we present first quantitative analysis on the stepping behavior in a one-dimensional pedestrian flow studied under controlled laboratory conditions. We find that the step length is proportional to the velocity of the pedestrian, and is directly related to the space available in front of him, while the variations of the step duration are much smaller. This is in contrast with locomotion studies performed on isolated pedestrians and shows that the local density has a direct influence on the stepping characteristics. Furthermore, we study the phenomena of synchronization-walking in lock step-and show its dependence on flow densities. We show that the synchronization of steps is particularly important at high densities, which has direct impact on the studies of optimizing pedestrians' flow in congested situations. However, small synchronization and antisynchronization effects are found also at very low densities, for which no steric constraints exist between successive pedestrians, showing the natural tendency to synchronize according to perceived visual signals. Language: en

/pdf/properties-of-pedestrians-walking-in-line-ii-stepping-2s34oe88v3.pdf

Properties of pedestrians walking in line. II. Stepping behavior.

Cette these contribue a la problematique de la planification de trajectoire Dans le but d'ameliorer la recherche d'une trajectoire solution nous presentons une variante de l'approche RRT puis une methode de planification de mouvement integrant un operateur humain dans la boucle de recherche afin de trouver un chemin et ensuite d'animer un personnage virtuel Apres une introduction generale, une presentation du probleme de la planification de mouvement est faite et les algorithmes existants les plus connus sont presentes dans le second chapitre Les travaux sur lesquels ce chapitre se base sont presentes plus en details Une nouvelle methode de planification developpee pour des environnements specifiques, orientee vers l'utilisation dans l'animation de personnage, est decrite Enfin plusieurs tests et une analyse approfondie sont realises sur differents environnements et permettent de montrer les avantages de l'approche Le troisieme chapitre introduit une nouvelle methode de planification interactive, qui fait cooperer un operateur et un algorithme de planification de mouvement dans une boucle d'interaction La methode se base sur un echange de pseudo-forces entre l'utilisateur et l'algorithme a travers une scene virtuelle avec des peripheriques interactifs du type souris 3D et bras haptique Differents exemples permettent d'illustrer l'approche, et un cas emprunte a l'industrie automobile est presente Une etude est realisee et montre l'influence de differents parametres sur les performances de l'algorithme Le quatrieme chapitre presente une methode d'animation de personnages interactive et intuitive En se basant sur des travaux utilisant l'interpolation de captures de mouvements pour animer un personnage et sur la methode du chapitre precedent, cette methode introduit un aspect interactif qui permet de creer des trajectoires animees de personnages virtuels en respectant la volonte de l'utilisateur Plusieurs exemples viennent illustrer cette methode et en montrer les avantages

https://tel.archives-ouvertes.fr/tel-00538807/document

Planification de mouvement interactive: coopération humain-machine pour la recherche de trajectoire et l'animation

Seamless integration of mobile robots into human populated environments is a key challenge for robotics. Therefore, mobile robots require the ability to interact nonverbally and to perform predictable motions. Both abilities further demand accurate predictions of human locomotion. This work achieves these requirements by applying optimal control based methods that consider human locomotion behaviors for trajectory planning and prediction. This improves the robot ability to integrate seamlessly in a shared environment.

Mobile Robot Locomotion in Human Populated Environments: A Social Situation

Ever since the development of Computer Graphics in the industrial and academic worlds in the seventies, public knowledge and expertise have grown in a tremendous way, notably because of the increasing fascination for Computer Animation. This specific field of Computer Graphics gathers numerous techniques, especially for the animation of characters or virtual humans in movies and video games. To create such high-fidelity animations, a particular interest has been dedicated to motion capture, a technology which allows to record the 3D movement of a live performer. The resulting realism motion is convincing. However, this technique offers little control to animators, as the recorded motion can only be played back. Recently, many advances based on motion capture have been published, concerning slight but precise modifications of an original motion or the parameterization of large motion databases. The challenge consists in combining motion realism with an intuitive on-line motion control, while preserving real-time performances. In the first part of this thesis, we would like to add a brick in the wall of motion parameterization techniques based on motion capture, by introducing a generic motion modeling for locomotion and jump activities. For this purpose, we simplify the motion representation using a statistical method in order to facilitate the elaboration of an efficient parametric model. This model is structured in hierarchical levels, allowing an intuitive motion synthesis with high-level parameters. In addition, we present a space and time normalization process to adapt our model to characters of various sizes. In the second part, we integrate this motion modeling in an animation engine, thus allowing for the generation of a continuous stream of motion for virtual humans. We provide two additional tools to improve the flexibility of our engine. Based on the concept of motion anticipation, we first introduce an on-line method for detecting and enforcing foot-ground constraints. Hence, a straight line walking motion can be smoothly modified to a curved one. Secondly, we propose an approach for the automatic and coherent synthesis of transitions from locomotion to jump (and inversely) motions, by taking into account their respective properties. Finally, we consider the interaction of a virtual human with its environment. Given initial and final conditions set on the locomotion speed and foot positions, we propose a method which computes the corresponding trajectory. To illustrate this method, we propose a case study which mirrors as closely as possible the behavior of a human confronted with an obstacle: at any time, obstacles may be interactively created in front of a moving virtual human. Our method computes a trajectory allowing the virtual human to precisely jump over the obstacle in an on-line manner.

On-line locomotion synthesis for virtual humans

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On-line locomotion synthesis for virtual humans