Challenges in Exploiting Prioritized Inverse Kinematics for Motion Capture and Postural Control

Boulic, Ronan; Peinado, Manuel; Callennec, Benoît Le

doi:10.1007/11678816_21

Cited by 4 publications

(4 citation statements)

References 4 publications

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“…An extended illustration of the concepts and the algorithm can be found in [BLP06]. In the remainder of this section we simply recall the key aspects and notations related to this approach.…”

Section: Basic Concepts Of Prioritized Inverse Kinematicsmentioning

confidence: 99%

Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions

Boulic

Raunhardt

2009

Motion in Games

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Abstract.Despite the large success of games grounded on movement-based interactions the current state of full body motion capture technologies still prevents the exploitation of precise interactions with complex environments. This paper focuses on ensuring a precise spatial correspondence between the user and the avatar. We build upon our past effort in human postural control with a Prioritized Inverse Kinematics framework. One of its key advantage is to ease the dynamic combination of postural and collision avoidance constraints. However its reliance on a linearized approximation of the problem makes it vulnerable to the well-known full extension singularity of the limbs. In such context the tracking performance is reduced and/or less believable intermediate postural solutions are produced. We address this issue by introducing a new type of analytic constraint that smoothly integrates within the prioritized Inverse Kinematics framework. The paper first recalls the background of full body 3D interactions and the advantages and drawbacks of the linearized IK solution. Then the FlexionEXTension constraint (FLEXT in short) is introduced for the partial position control of limb-like articulated structures. Comparative results illustrate the interest of this new type of integrated analytical and linearized IK control.

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Section: Basic Concepts Of Prioritized Inverse Kinematicsmentioning

confidence: 99%

Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions

Boulic

Raunhardt

2009

Motion in Games

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“…7 An extended illustration of the concepts and the algorithm can be found in Ref. 32 In the remainder of this section we simply recall the key aspects and notations related to this approach.…”

Section: Basic Concepts Of Prioritized Inverse Kinematicsmentioning

confidence: 99%

Immersive singularity-free full-body interactions with reduced marker set

Raunhardt

Boulic

2010

Comp. Anim. Virtual Worlds

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Despite the large success of games grounded on movement-based interactions the current state of full-body motion capture technologies still prevents the exploitation of precise interactions with complex environments. The first key requirement in the line of work we present here is to ensure a precise spatial correspondence between the user and the Avatar. For that purpose, we build upon our past effort in human postural control with a prioritized inverse kinematics (PIK) framework. One of its key advantages is to ease the dynamic-and priority-based combination of multiple conflicting constraints such as ensuring the balance and reaching a goal. However, its reliance on a linearized approximation of the problem makes it vulnerable to the well-known full extension singularity of the limbs. We address this issue by presenting a new type of 1D analytic constraint that smoothly integrates within the PIK framework under the name of FLEXT constraint (for FLexion-EXTension constraint). We further ease the full-body interaction by combining this new constraint with a recently introduced motion constraint to exploit the data-based synergy of full-body reach motions. The combination of both techniques allows immersive full-body interactions with a small set of active optical marker.

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“…For example, such architecture is particularly suited for the off-line evaluation of reachable space by a virtual worker; in such a context the balance constraint is given the highest priority while gaze and reach constraints have lower priority levels [18]. a more conceptual overview is given in [19].…”

Section: Overview Of the Prioritized Ikmentioning

confidence: 99%

“…We have analyzed this problem and proposed a solution through the concept of observers [19]. Basically, we observe the conjunction of the fully extended arm posture together with the occurrence of a wrist goal in the shoulder direction (within a tolerance).…”

Section: Specific Issues In the Vision-driven Real-time Contextmentioning

confidence: 99%

Evaluation of on-line analytic and numeric inverse kinematics approaches driven by partial vision input

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Challenges in Exploiting Prioritized Inverse Kinematics for Motion Capture and Postural Control

Cited by 4 publications

References 4 publications

Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions

Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions

Immersive singularity-free full-body interactions with reduced marker set

Evaluation of on-line analytic and numeric inverse kinematics approaches driven by partial vision input

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