265 research outputs found
Human motion convolutional autoencoders using different rotation representations
This research proposes the application of four different techniques of animation storage
(Axis Angle, Quaternions, Rotation Matrices and Euler Angles), in order to determine the advantages
and disadvantages of each method through the training and evaluation of autoencoders for
reconstructing and denoising parsed data, when passing through a convolutional neural network.
The designed autoencoders provide a novel insight into the comparative performance of these animation
representation methods in an analog architecture, making them measurable in the same
conditions, and thus possible to evaluate with quantitative metrics such as Minimum Square Error
(MSE), and Root Mean Square Error (RMSE), as well as qualitatively through close observation of
the naturality, its real-time performance after being decoded in full output sequences.
My results show that the most accurate method for this purpose qualitatively is Quaternions, followed
by Rotation Matrices, Euler Angles and finally with the least accurate results:e Axis Angles.
These results persist in decoding and in simple encoding-decoding. Consistent denoising results
were achieved in the representations, up until sequences with 25% of added gaussian noise
ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters
Motion retargeting is a promising approach for generating natural and
compelling animations for nonhuman characters. However, it is challenging to
translate human movements into semantically equivalent motions for target
characters with different morphologies due to the ambiguous nature of the
problem. This work presents a novel learning-based motion retargeting
framework, Adversarial Correspondence Embedding (ACE), to retarget human
motions onto target characters with different body dimensions and structures.
Our framework is designed to produce natural and feasible robot motions by
leveraging generative-adversarial networks (GANs) while preserving high-level
motion semantics by introducing an additional feature loss. In addition, we
pretrain a robot motion prior that can be controlled in a latent embedding
space and seek to establish a compact correspondence. We demonstrate that the
proposed framework can produce retargeted motions for three different
characters -- a quadrupedal robot with a manipulator, a crab character, and a
wheeled manipulator. We further validate the design choices of our framework by
conducting baseline comparisons and a user study. We also showcase sim-to-real
transfer of the retargeted motions by transferring them to a real Spot robot
Artistic Path Space Editing of Physically Based Light Transport
Die Erzeugung realistischer Bilder ist ein wichtiges Ziel der Computergrafik, mit Anwendungen u.a. in der Spielfilmindustrie, Architektur und Medizin. Die physikalisch basierte Bildsynthese, welche in letzter Zeit anwendungsübergreifend weiten Anklang findet, bedient sich der numerischen Simulation des Lichttransports entlang durch die geometrische Optik vorgegebener Ausbreitungspfade; ein Modell, welches für übliche Szenen ausreicht, Photorealismus zu erzielen.
Insgesamt gesehen ist heute das computergestützte Verfassen von Bildern und Animationen mit wohlgestalteter und theoretisch fundierter Schattierung stark vereinfacht. Allerdings ist bei der praktischen Umsetzung auch die Rücksichtnahme auf Details wie die Struktur des Ausgabegeräts wichtig und z.B. das Teilproblem der effizienten physikalisch basierten Bildsynthese in partizipierenden Medien ist noch weit davon entfernt, als gelöst zu gelten.
Weiterhin ist die Bildsynthese als Teil eines weiteren Kontextes zu sehen: der effektiven Kommunikation von Ideen und Informationen. Seien es nun Form und Funktion eines Gebäudes, die medizinische Visualisierung einer Computertomografie oder aber die Stimmung einer Filmsequenz -- Botschaften in Form digitaler Bilder sind heutzutage omnipräsent. Leider hat die Verbreitung der -- auf Simulation ausgelegten -- Methodik der physikalisch basierten Bildsynthese generell zu einem Verlust intuitiver, feingestalteter und lokaler künstlerischer Kontrolle des finalen Bildinhalts geführt, welche in vorherigen, weniger strikten Paradigmen vorhanden war.
Die Beiträge dieser Dissertation decken unterschiedliche Aspekte der Bildsynthese ab. Dies sind zunächst einmal die grundlegende Subpixel-Bildsynthese sowie effiziente Bildsyntheseverfahren für partizipierende Medien. Im Mittelpunkt der Arbeit stehen jedoch Ansätze zum effektiven visuellen Verständnis der Lichtausbreitung, die eine lokale künstlerische Einflussnahme ermöglichen und gleichzeitig auf globaler Ebene konsistente und glaubwürdige Ergebnisse erzielen. Hierbei ist die Kernidee, Visualisierung und Bearbeitung des Lichts direkt im alle möglichen Lichtpfade einschließenden "Pfadraum" durchzuführen. Dies steht im Gegensatz zu Verfahren nach Stand der Forschung, die entweder im Bildraum arbeiten oder auf bestimmte, isolierte Beleuchtungseffekte wie perfekte Spiegelungen, Schatten oder Kaustiken zugeschnitten sind. Die Erprobung der vorgestellten Verfahren hat gezeigt, dass mit ihnen real existierende Probleme der Bilderzeugung für Filmproduktionen gelöst werden können
A Generative Human-Robot Motion Retargeting Approach Using a Single RGBD Sensor
The goal of human-robot motion retargeting is to let a robot follow the movements performed by a human subject. Typically in previous approaches, the human poses are precomputed from a human pose tracking system, after which the explicit joint mapping strategies are specified to apply the estimated poses to a target robot. However, there is not any generic mapping strategy that we can use to map the human joint to robots with different kinds of configurations. In this paper, we present a novel motion retargeting approach that combines the human pose estimation and the motion retargeting procedure in a unified generative framework without relying on any explicit mapping. First, a 3D parametric human-robot (HUMROB) model is proposed which has the specific joint and stability configurations as the target robot while its shape conforms the source human subject. The robot configurations, including its skeleton proportions, joint limitations, and DoFs are enforced in the HUMROB model and get preserved during the tracking procedure. Using a single RGBD camera to monitor human pose, we use the raw RGB and depth sequence as input. The HUMROB model is deformed to fit the input point cloud, from which the joint angle of the model is calculated and applied to the target robots for retargeting. In this way, instead of fitted individually for each joint, we will get the joint angle of the robot fitted globally so that the surface of the deformed model is as consistent as possible to the input point cloud. In the end, no explicit or pre-defined joint mapping strategies are needed. To demonstrate its effectiveness for human-robot motion retargeting, the approach is tested under both simulations and on real robots which have a quite different skeleton configurations and joint degree of freedoms (DoFs) as compared with the source human subjects
ACM Transactions on Graphics
We present an interactive design system to create functional mechanical objects. Our computational approach allows novice users to retarget an existing mechanical template to a user-specified input shape. Our proposed representation for a mechanical template encodes a parameterized mechanism, mechanical constraints that ensure a physically valid configuration, spatial relationships of mechanical parts to the user-provided shape, and functional constraints that specify an intended functionality. We provide an intuitive interface and optimization-in-the-loop approach for finding a valid configuration of the mechanism and the shape to ensure that higher-level functional goals are met. Our algorithm interactively optimizes the mechanism while the user manipulates the placement of mechanical components and the shape. Our system allows users to efficiently explore various design choices and to synthesize customized mechanical objects that can be fabricated with rapid prototyping technologies. We demonstrate the efficacy of our approach by retargeting various mechanical templates to different shapes and fabricating the resulting functional mechanical objects
Facial Expression Retargeting from Human to Avatar Made Easy
Facial expression retargeting from humans to virtual characters is a useful
technique in computer graphics and animation. Traditional methods use markers
or blendshapes to construct a mapping between the human and avatar faces.
However, these approaches require a tedious 3D modeling process, and the
performance relies on the modelers' experience. In this paper, we propose a
brand-new solution to this cross-domain expression transfer problem via
nonlinear expression embedding and expression domain translation. We first
build low-dimensional latent spaces for the human and avatar facial expressions
with variational autoencoder. Then we construct correspondences between the two
latent spaces guided by geometric and perceptual constraints. Specifically, we
design geometric correspondences to reflect geometric matching and utilize a
triplet data structure to express users' perceptual preference of avatar
expressions. A user-friendly method is proposed to automatically generate
triplets for a system allowing users to easily and efficiently annotate the
correspondences. Using both geometric and perceptual correspondences, we
trained a network for expression domain translation from human to avatar.
Extensive experimental results and user studies demonstrate that even
nonprofessional users can apply our method to generate high-quality facial
expression retargeting results with less time and effort.Comment: IEEE Transactions on Visualization and Computer Graphics (TVCG), to
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