nus cs 5247 david hsu motion planning in digital studios
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NUS CS 5247 David Hsu
Motion Planning in Motion Planning in Digital StudiosDigital Studios
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Manipulation planning Input
Robots R Movable objects M Obstacles
Output: a path that moves M and/or R from an initial configuration to a goal configuration.
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Composite configuration space CR x CM
CR
CM
0
-1 1
R
M
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Composite configuration space CR x CM
CR
CM
0
-1 1
R
M
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Composite configuration space CR x CM
CR
CM
0
-1 1
transit path
transfer path
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Paths Transit path
The robot moves alone.
Transfer path The robot moves with the movable object. A transfer path lies in a cross-section of the
composite C-space defined by the grasping relationship.
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How can motion planning help? Synthesize motion for digital actors Control the camera for viewers
Challenge: The motion must look “nice”!
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Motion synthesis Motion capture and re-targetting Dynamic simulation Motion planning
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Camera view generation
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First vs. third person view A first person view has a camera view from the
player's eyes or point of view. Paper by Saloman, etc. Example: computer games
A third person game has a camera view from outside the player's body, often from behind and left/right side. Paper by Nieuwenhuisen & Overmars Example: movies
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Walking vs. flying camera
walking cameraSaloman, et al.
flying cameraNieuwenhuisen & Overmars
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Cinematography Keep a distance from obstacles Keep the camera horizontal Control the speed of motion …
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Virtual bronchoscopy
S. Napel, 3D Medical Imaging Lab, Stanford