Motion Imitation Based on Sparsely Sampled Correspondence

Existing techniques for motion imitation often suffer a certain level of latency due to their computational overhead or a large set of correspondence samples to search. To achieve real-time imitation with small latency, we present a framework in this paper to reconstruct motion on humanoids based on sparsely sampled correspondence. The imitation problem is formulated as finding the projection of a point from the configuration space of a human's poses into the configuration space of a humanoid. An optimal projection is defined as the one that minimizes a back-projected deviation among a group of candidates, which can be determined in a very efficient way. Benefited from this formulation, effective projections can be obtained by using sparse correspondence. Methods for generating these sparse correspondence samples have also been introduced. Our method is evaluated by applying the human's motion captured by a RGB-D sensor to a humanoid in real-time. Continuous motion can be realized and used in the example application of tele-operation.Comment: 8 pages, 8 figures, technical repor

Fast Hierarchical Clustering and Other Applications of Dynamic Closest Pairs

We develop data structures for dynamic closest pair problems with arbitrary distance functions, that do not necessarily come from any geometric structure on the objects. Based on a technique previously used by the author for Euclidean closest pairs, we show how to insert and delete objects from an n-object set, maintaining the closest pair, in O(n log^2 n) time per update and O(n) space. With quadratic space, we can instead use a quadtree-like structure to achieve an optimal time bound, O(n) per update. We apply these data structures to hierarchical clustering, greedy matching, and TSP heuristics, and discuss other potential applications in machine learning, Groebner bases, and local improvement algorithms for partition and placement problems. Experiments show our new methods to be faster in practice than previously used heuristics.Comment: 20 pages, 9 figures. A preliminary version of this paper appeared at the 9th ACM-SIAM Symp. on Discrete Algorithms, San Francisco, 1998, pp. 619-628. For source code and experimental results, see http://www.ics.uci.edu/~eppstein/projects/pairs