Kinematics & Motion Capture

Size: px
Start display at page:

Download "Kinematics & Motion Capture"

Transcription

1 Lecture 27: Kinematics & Motion Capture Computer Graphics and Imaging UC Berkeley CS184/284A, Spring 2017

2 Forward Kinematics (Slides with James O Brien)

3 Forward Kinematics Articulated skeleton Topology (what s connected to what) Geometric relations from joints Tree structure (in absence of loops) Joint types Pin (1D rotation) Ball (2D rotation) Prismatic joint (translation)

4 Forward Kinematics Example: simple two segment arm in 2D z x Warning: Z up Coordinate System

5 Forward Kinematics Animator provides angles, and computer determines position p of end-effector z End effector x Warning: Z up Coordinate System

6 Forward Kinematics Animation is described as angle parameter values as a function of time z 1 t x 2 t Warning: Z up Coordinate System

7 Example: Walk Cycle Articulated figure: Watt & Watt Slide credit: Tom Funkhouser

8 Example: Walk Cycle Hip joint angle Watt & Watt Slide credit: Tom Funkhouser

9 Example: Walk Cycle Knee joint angle Watt & Watt Slide credit: Tom Funkhouser

10 Example: Walk Cycle Ankle joint angle Watt & Watt Slide credit: Tom Funkhouser

11 Example Walk Cycle CS184/284A Ren Ng

12 Inverse Kinematics

13 Inverse Kinematics Egon Pasztor

14 Inverse Kinematics Animator provides position of end-effector, and computer must determine joint angles that satisfy constraints z p x p z t x t

15 Inverse Kinematics Direct inverse kinematics: for two-segment arm, can solve for parameters analytically z p x p z t x t

16 Inverse Kinematics Why is the problem hard? Multiple solutions separated in configuration space

17 Inverse Kinematics Why is the problem hard? Multiple solutions connected in configuration space

18 Inverse Kinematics Why is the problem hard? Solutions may not always exist

19 Inverse Kinematics Numerical solution to general N-link IK problem Choose an initial configuration Define an error metric (e.g. square of distance between goal and current position) Compute gradient of error as function of configuration Apply gradient descent (or Newton s method, or other optimization procedure)

20 Style-Based IK Grochow et al., Style Based Inverse Kinematics

21 Kinematics Pros and Cons Strengths Direct control is convenient Implementation is straightforward Weaknesses Animation may be inconsistent with physics Time consuming for artists CS184/284A Ren Ng

22 Rigging

23 Rigging Rigging is a set of higher level controls on a character that allow more rapid & intuitive modification of pose, deformations, expression, etc. Important Like strings on a puppet Captures all meaningful character changes Varies from character to character Expensive to create Manual effort Requires both artistic and technical training CS184/284A Ren Ng

24 Types of Rigging Procedural Rigging Skeletal Rigging Anatomical Rigging Al Barr. Global and Local Deformations of Solid Primitives. SIGGRAPH Skeleton CS184/284A Skinning on top Anatomy-Based Modeling of the Human Musculature. Scheepers et al. SIGGRAPH Ren Ng

25 Posing Use the rigging controls to put the character into a given pose. CS184/284A Ren Ng

26 Rigging Example Courtesy Matthew Lailler via Keenan Crane CS184/284A Ren Ng

27 Blend Shapes Instead of skeleton, interpolate directly between surfaces E.g., model a collection of facial expressions: Simplest scheme: take linear combination of vertex positions Spline used to control choice of weights over time CS184/284A Courtesy Félix Ferrand Ren Ng

28 Blend Shapes Courtesy Félix Ferrand

29 Motion Capture

30 Motion Capture Data-driven approach to creating animation sequences Record real-world performances (e.g. person executing an activity) Extract pose as a function of time from the data collected Motion capture room for ShaqFu CS184/284A Ren Ng

31 Motion Capture Pros and Cons Strengths Can capture large amounts of real data quickly Realism can be high Weaknesses Complex and costly set-ups Captured animation may not meed artistic needs, requiring alterations CS184/284A Ren Ng

32 Motion Capture Equipment Optical (More on following slides) CS184/284A Magnetic Sense magnetic fields to infer position / orientation. Tethered. Mechanical Measure joint angles directly. Restricts motion. Ren Ng

33 Optical Motion Capture Retroflective markers attached to subject IR illumination and cameras Markers on subject Positions by triangulation from multiple cameras 8+ cameras, 240 Hz, occlusions are difficult Slide credit: Steve Marschner

34 Optical Motion Capture Source: Ronda Roussey in Electronic Arts motion capture studio CS184/284A Ren Ng

35 Motion Data Subset of motion curves from captured walking motion. From Witkin and Popovic, 1995 CS184/284A Ren Ng

36 Challenges of Facial Animation Uncanny valley In robotics and graphics As artificial character appearance approaches Cartoon. Brave, Pixar human realism, our emotional response goes negative, until it achieves a sufficiently convincing level of realism in expression Semi-realistic. Polar Express, Warner Bros. CS184/284A Ren Ng

37 Challenges of Facial Motion Capture Final Fantasy Spirits Within CS184/284A Ren Ng

38 Facial Motion Capture Discovery, Avatar: Motion Capture Mirrors Emotions, CS184/284A Ren Ng

39 Things to Remember Principles of animation Computer character animation Rigging, posing, keyframes, interpolation Forward and inverse kinematics Motion capture: data driven animation CS184/284A Ren Ng

40 Acknowledgments Thanks to Keenan Crane, Mark Pauly, James O Brien, Steve Marschner and Tom Funkhouser for presentation resources. CS184/284A Ren Ng

Animations. Hakan Bilen University of Edinburgh. Computer Graphics Fall Some slides are courtesy of Steve Marschner and Kavita Bala

Animations. Hakan Bilen University of Edinburgh. Computer Graphics Fall Some slides are courtesy of Steve Marschner and Kavita Bala Animations Hakan Bilen University of Edinburgh Computer Graphics Fall 2017 Some slides are courtesy of Steve Marschner and Kavita Bala Animation Artistic process What are animators trying to do? What tools

More information

Animation. CS 465 Lecture 22

Animation. CS 465 Lecture 22 Animation CS 465 Lecture 22 Animation Industry production process leading up to animation What animation is How animation works (very generally) Artistic process of animation Further topics in how it works

More information

Announcements: Quiz. Animation, Motion Capture, & Inverse Kinematics. Last Time? Today: How do we Animate? Keyframing. Procedural Animation

Announcements: Quiz. Animation, Motion Capture, & Inverse Kinematics. Last Time? Today: How do we Animate? Keyframing. Procedural Animation Announcements: Quiz Animation, Motion Capture, & Inverse Kinematics On Friday (3/1), in class One 8.5x11 sheet of notes allowed Sample quiz (from a previous year) on website Focus on reading comprehension

More information

To Do. History of Computer Animation. These Lectures. 2D and 3D Animation. Computer Animation. Foundations of Computer Graphics (Spring 2010)

To Do. History of Computer Animation. These Lectures. 2D and 3D Animation. Computer Animation. Foundations of Computer Graphics (Spring 2010) Foundations of Computer Graphics (Spring 2010) CS 184, Lecture 24: Animation http://inst.eecs.berkeley.edu/~cs184 To Do Submit HW 4 (today) Start working on HW 5 (can be simple add-on) Many slides courtesy

More information

Last Time? Animation, Motion Capture, & Inverse Kinematics. Today. Keyframing. Physically-Based Animation. Procedural Animation

Last Time? Animation, Motion Capture, & Inverse Kinematics. Today. Keyframing. Physically-Based Animation. Procedural Animation Last Time? Animation, Motion Capture, & Inverse Kinematics Navier-Stokes Equations Conservation of Momentum & Mass Incompressible Flow Today How do we animate? Keyframing Procedural Animation Physically-Based

More information

Last Time? Animation, Motion Capture, & Inverse Kinematics. Today. Keyframing. Physically-Based Animation. Procedural Animation

Last Time? Animation, Motion Capture, & Inverse Kinematics. Today. Keyframing. Physically-Based Animation. Procedural Animation Last Time? Animation, Motion Capture, & Inverse Kinematics Navier-Stokes Equations Conservation of Momentum & Mass Incompressible Flow Today How do we animate? Keyframing Procedural Animation Physically-Based

More information

CS-184: Computer Graphics. Today. Forward kinematics Inverse kinematics. Wednesday, November 12, Pin joints Ball joints Prismatic joints

CS-184: Computer Graphics. Today. Forward kinematics Inverse kinematics. Wednesday, November 12, Pin joints Ball joints Prismatic joints CS-184: Computer Graphics Lecture #18: Forward and Prof. James O Brien University of California, Berkeley V2008-F-18-1.0 1 Today Forward kinematics Inverse kinematics Pin joints Ball joints Prismatic joints

More information

Animation, Motion Capture, & Inverse Kinematics. Announcements: Quiz

Animation, Motion Capture, & Inverse Kinematics. Announcements: Quiz Animation, Motion Capture, & Inverse Kinematics Announcements: Quiz On Tuesday (3/10), in class One 8.5x11 sheet of notes allowed Sample quiz (from a previous year) on website Focus on reading comprehension

More information

Homework 2 Questions? Animation, Motion Capture, & Inverse Kinematics. Velocity Interpolation. Handing Free Surface with MAC

Homework 2 Questions? Animation, Motion Capture, & Inverse Kinematics. Velocity Interpolation. Handing Free Surface with MAC Homework 2 Questions? Animation, Motion Capture, & Inverse Kinematics Velocity Interpolation Original image from Foster & Metaxas, 1996 In 2D: For each axis, find the 4 closest face velocity samples: Self-intersecting

More information

Last Time? Inverse Kinematics. Today. Keyframing. Physically-Based Animation. Procedural Animation

Last Time? Inverse Kinematics. Today. Keyframing. Physically-Based Animation. Procedural Animation Last Time? Inverse Kinematics Navier-Stokes Equations Conservation of Momentum & Mass Incompressible Flow Today How do we animate? Keyframing Procedural Animation Physically-Based Animation Forward and

More information

CS-184: Computer Graphics. Today

CS-184: Computer Graphics. Today CS-184: Computer Graphics Lecture #20: Motion Capture Prof. James O Brien University of California, Berkeley V2005-F20-1.0 Today Motion Capture 2 Motion Capture Record motion from physical objects Use

More information

Animation COM3404. Richard Everson. School of Engineering, Computer Science and Mathematics University of Exeter

Animation COM3404. Richard Everson. School of Engineering, Computer Science and Mathematics University of Exeter Animation COM3404 Richard Everson School of Engineering, Computer Science and Mathematics University of Exeter R.M.Everson@exeter.ac.uk http://www.secamlocal.ex.ac.uk/studyres/com304 Richard Everson Animation

More information

CSE452 Computer Graphics

CSE452 Computer Graphics CSE452 Computer Graphics Lecture 19: From Morphing To Animation Capturing and Animating Skin Deformation in Human Motion, Park and Hodgins, SIGGRAPH 2006 CSE452 Lecture 19: From Morphing to Animation 1

More information

Animation. CS 4620 Lecture 33. Cornell CS4620 Fall Kavita Bala

Animation. CS 4620 Lecture 33. Cornell CS4620 Fall Kavita Bala Animation CS 4620 Lecture 33 Cornell CS4620 Fall 2015 1 Announcements Grading A5 (and A6) on Monday after TG 4621: one-on-one sessions with TA this Friday w/ prior instructor Steve Marschner 2 Quaternions

More information

Keyframe Animation. Computer Animation. Outline. Computer Animation. Keyframe Animation. Keyframe Animation

Keyframe Animation. Computer Animation. Outline. Computer Animation. Keyframe Animation. Keyframe Animation Computer Animation What is animation? o Make objects change over time according to scripted actions What is simulation? Pixar o Predict how objects change over time according to physical laws Adam Finkelstein

More information

Animation, Motion Capture, & Inverse Kinematics

Animation, Motion Capture, & Inverse Kinematics Animation, Motion Capture, & Inverse Kinematics Pop Worksheet! Teams of 2. SOMEONE YOU HAVEN T ALREADY WORKED WITH Enumerate all cases (including rotations) of the 2D version of Marching Cubes, labeling

More information

Human body animation. Computer Animation. Human Body Animation. Skeletal Animation

Human body animation. Computer Animation. Human Body Animation. Skeletal Animation Computer Animation Aitor Rovira March 2010 Human body animation Based on slides by Marco Gillies Human Body Animation Skeletal Animation Skeletal Animation (FK, IK) Motion Capture Motion Editing (retargeting,

More information

animation projects in digital art animation 2009 fabio pellacini 1

animation projects in digital art animation 2009 fabio pellacini 1 animation projects in digital art animation 2009 fabio pellacini 1 animation shape specification as a function of time projects in digital art animation 2009 fabio pellacini 2 how animation works? flip

More information

CS-184: Computer Graphics

CS-184: Computer Graphics CS-184: Computer Graphics Lecture #19: Motion Capture!!! Prof. James O Brien! University of California, Berkeley!! V2015-S-18-1.0 Today 1 18-MoCap.key - April 8, 2015 Motion Capture 2 2 18-MoCap.key -

More information

Character Animation COS 426

Character Animation COS 426 Character Animation COS 426 Syllabus I. Image processing II. Modeling III. Rendering IV. Animation Image Processing (Rusty Coleman, CS426, Fall99) Rendering (Michael Bostock, CS426, Fall99) Modeling (Dennis

More information

To Do. Advanced Computer Graphics. The Story So Far. Course Outline. Rendering (Creating, shading images from geometry, lighting, materials)

To Do. Advanced Computer Graphics. The Story So Far. Course Outline. Rendering (Creating, shading images from geometry, lighting, materials) Advanced Computer Graphics CSE 190 [Spring 2015], Lecture 16 Ravi Ramamoorthi http://www.cs.ucsd.edu/~ravir To Do Assignment 3 milestone due May 29 Should already be well on way Contact us for difficulties

More information

Course Outline. Advanced Computer Graphics. Animation. The Story So Far. Animation. To Do

Course Outline. Advanced Computer Graphics. Animation. The Story So Far. Animation. To Do Advanced Computer Graphics CSE 163 [Spring 2017], Lecture 18 Ravi Ramamoorthi http://www.cs.ucsd.edu/~ravir 3D Graphics Pipeline Modeling (Creating 3D Geometry) Course Outline Rendering (Creating, shading

More information

Data-driven Approaches to Simulation (Motion Capture)

Data-driven Approaches to Simulation (Motion Capture) 1 Data-driven Approaches to Simulation (Motion Capture) Ting-Chun Sun tingchun.sun@usc.edu Preface The lecture slides [1] are made by Jessica Hodgins [2], who is a professor in Computer Science Department

More information

3D Production Pipeline

3D Production Pipeline Overview 3D Production Pipeline Story Character Design Art Direction Storyboarding Vocal Tracks 3D Animatics Modeling Animation Rendering Effects Compositing Basics : OpenGL, transformation Modeling :

More information

Animation by Adaptation Tutorial 1: Animation Basics

Animation by Adaptation Tutorial 1: Animation Basics Animation by Adaptation Tutorial 1: Animation Basics Michael Gleicher Graphics Group Department of Computer Sciences University of Wisconsin Madison http://www.cs.wisc.edu/graphics Outline Talk #1: Basics

More information

Motion Capture. Motion Capture in Movies. Motion Capture in Games

Motion Capture. Motion Capture in Movies. Motion Capture in Games Motion Capture Motion Capture in Movies 2 Motion Capture in Games 3 4 Magnetic Capture Systems Tethered Sensitive to metal Low frequency (60Hz) Mechanical Capture Systems Any environment Measures joint

More information

Advanced Graphics and Animation

Advanced Graphics and Animation Advanced Graphics and Animation Character Marco Gillies and Dan Jones Goldsmiths Aims and objectives By the end of the lecture you will be able to describe How 3D characters are animated Skeletal animation

More information

Introduction to Computer Graphics. Animation (1) May 19, 2016 Kenshi Takayama

Introduction to Computer Graphics. Animation (1) May 19, 2016 Kenshi Takayama Introduction to Computer Graphics Animation (1) May 19, 2016 Kenshi Takayama Skeleton-based animation Simple Intuitive Low comp. cost https://www.youtube.com/watch?v=dsonab58qva 2 Representing a pose using

More information

Animation II: Soft Object Animation. Watt and Watt Ch.17

Animation II: Soft Object Animation. Watt and Watt Ch.17 Animation II: Soft Object Animation Watt and Watt Ch.17 Soft Object Animation Animation I: skeletal animation forward kinematics x=f(φ) inverse kinematics φ=f -1 (x) Curves and Surfaces I&II: parametric

More information

Motion Capture. CS 448D: Character Animation Prof. Vladlen Koltun Stanford University

Motion Capture. CS 448D: Character Animation Prof. Vladlen Koltun Stanford University Motion Capture CS 448D: Character Animation Prof. Vladlen Koltun Stanford University History: Rotoscope Trace animated character over recorded actor, frame-by-frame Invented by Max Fleicher in 1915 and

More information

Computer Animation and Visualisation. Lecture 3. Motion capture and physically-based animation of characters

Computer Animation and Visualisation. Lecture 3. Motion capture and physically-based animation of characters Computer Animation and Visualisation Lecture 3. Motion capture and physically-based animation of characters Character Animation There are three methods Create them manually Use real human / animal motions

More information

animation computer graphics animation 2009 fabio pellacini 1 animation shape specification as a function of time

animation computer graphics animation 2009 fabio pellacini 1 animation shape specification as a function of time animation computer graphics animation 2009 fabio pellacini 1 animation shape specification as a function of time computer graphics animation 2009 fabio pellacini 2 animation representation many ways to

More information

animation computer graphics animation 2009 fabio pellacini 1

animation computer graphics animation 2009 fabio pellacini 1 animation computer graphics animation 2009 fabio pellacini 1 animation shape specification as a function of time computer graphics animation 2009 fabio pellacini 2 animation representation many ways to

More information

COMPUTER ANIMATION 3 KEYFRAME ANIMATION, RIGGING, SKINNING AND CHARACTER ANIMATION. Rémi Ronfard, Animation, M2R MOSIG

COMPUTER ANIMATION 3 KEYFRAME ANIMATION, RIGGING, SKINNING AND CHARACTER ANIMATION. Rémi Ronfard, Animation, M2R MOSIG COMPUTER ANIMATION 3 KEYFRAME ANIMATION, RIGGING, SKINNING AND CHARACTER ANIMATION Rémi Ronfard, Animation, M2R MOSIG 2 Outline Principles of animation Keyframe interpolation Rigging, skinning and walking

More information

Interactive Computer Graphics

Interactive Computer Graphics Interactive Computer Graphics Lecture 18 Kinematics and Animation Interactive Graphics Lecture 18: Slide 1 Animation of 3D models In the early days physical models were altered frame by frame to create

More information

CS 523: Computer Graphics, Spring Shape Modeling. Skeletal deformation. Andrew Nealen, Rutgers, /12/2011 1

CS 523: Computer Graphics, Spring Shape Modeling. Skeletal deformation. Andrew Nealen, Rutgers, /12/2011 1 CS 523: Computer Graphics, Spring 2011 Shape Modeling Skeletal deformation 4/12/2011 1 Believable character animation Computers games and movies Skeleton: intuitive, low-dimensional subspace Clip courtesy

More information

Animation Lecture 10 Slide Fall 2003

Animation Lecture 10 Slide Fall 2003 Animation Lecture 10 Slide 1 6.837 Fall 2003 Conventional Animation Draw each frame of the animation great control tedious Reduce burden with cel animation layer keyframe inbetween cel panoramas (Disney

More information

Rigging / Skinning. based on Taku Komura, Jehee Lee and Charles B.Own's slides

Rigging / Skinning. based on Taku Komura, Jehee Lee and Charles B.Own's slides Rigging / Skinning based on Taku Komura, Jehee Lee and Charles B.Own's slides Skeletal Animation Victoria 2 CSE 872 Dr. Charles B. Owen Advanced Computer Graphics Skinning http://www.youtube.com/watch?

More information

Articulated Characters

Articulated Characters Articulated Characters Skeleton A skeleton is a framework of rigid body bones connected by articulated joints Used as an (invisible?) armature to position and orient geometry (usually surface triangles)

More information

Character animation Christian Miller CS Fall 2011

Character animation Christian Miller CS Fall 2011 Character animation Christian Miller CS 354 - Fall 2011 Exam 2 grades Avg = 74.4, std. dev. = 14.4, min = 42, max = 99 Characters Everything is important in an animation But people are especially sensitive

More information

Computer Animation. Courtesy of Adam Finkelstein

Computer Animation. Courtesy of Adam Finkelstein Computer Animation Courtesy of Adam Finkelstein Advertisement Computer Animation What is animation? o Make objects change over time according to scripted actions What is simulation? o Predict how objects

More information

CS 775: Advanced Computer Graphics. Lecture 4: Skinning

CS 775: Advanced Computer Graphics. Lecture 4: Skinning CS 775: Advanced Computer Graphics Lecture 4: http://www.okino.com/conv/skinning.htm Binding Binding Always done in a standard rest or bind pose. Binding Always done in a standard rest or bind pose. Associate

More information

Animating Non-Human Characters using Human Motion Capture Data

Animating Non-Human Characters using Human Motion Capture Data Animating Non-Human Characters using Human Motion Capture Data Laurel Bancroft 1 and Jessica Hodgins 2 1 College of Fine Arts, Carngie Mellon University, lbancrof@andrew.cmu.edu 2 Computer Science, Carnegie

More information

Animation. Motion over time

Animation. Motion over time Animation Animation Motion over time Animation Motion over time Usually focus on character animation but environment is often also animated trees, water, fire, explosions, Animation Motion over time Usually

More information

Realistic Rendering and Animation of a Multi-Layered Human Body Model

Realistic Rendering and Animation of a Multi-Layered Human Body Model Realistic Rendering and Animation of a Multi-Layered Human Body Model Mehmet Şahin Yeşil and Uǧur Güdükbay Dept. of Computer Engineering, Bilkent University, Bilkent 06800 Ankara, Turkey email: syesil@alumni.bilkent.edu.tr,

More information

SM2231 :: 3D Animation I :: Basic. Rigging

SM2231 :: 3D Animation I :: Basic. Rigging SM2231 :: 3D Animation I :: Basic Rigging Object arrangements Hierarchical Hierarchical Separate parts arranged in a hierarchy can be animated without a skeleton Flat Flat Flat hierarchy is usually preferred,

More information

CS 231. Basics of Computer Animation

CS 231. Basics of Computer Animation CS 231 Basics of Computer Animation Animation Techniques Keyframing Motion capture Physics models Keyframe animation Highest degree of control, also difficult Interpolation affects end result Timing must

More information

Skeletal deformation

Skeletal deformation CS 523: Computer Graphics, Spring 2009 Shape Modeling Skeletal deformation 4/22/2009 1 Believable character animation Computers games and movies Skeleton: intuitive, low dimensional subspace Clip courtesy

More information

COMP 175 COMPUTER GRAPHICS. Lecture 10: Animation. COMP 175: Computer Graphics March 12, Erik Anderson 08 Animation

COMP 175 COMPUTER GRAPHICS. Lecture 10: Animation. COMP 175: Computer Graphics March 12, Erik Anderson 08 Animation Lecture 10: Animation COMP 175: Computer Graphics March 12, 2018 1/37 Recap on Camera and the GL Matrix Stack } Go over the GL Matrix Stack 2/37 Topics in Animation } Physics (dynamics, simulation, mechanics)

More information

CS 231. Inverse Kinematics Intro to Motion Capture. 3D characters. Representation. 1) Skeleton Origin (root) Joint centers/ bones lengths

CS 231. Inverse Kinematics Intro to Motion Capture. 3D characters. Representation. 1) Skeleton Origin (root) Joint centers/ bones lengths CS Inverse Kinematics Intro to Motion Capture Representation D characters ) Skeleton Origin (root) Joint centers/ bones lengths ) Keyframes Pos/Rot Root (x) Joint Angles (q) Kinematics study of static

More information

CS 231. Motion Capture Data I. The Pipeline. Bodenheimer et al

CS 231. Motion Capture Data I. The Pipeline. Bodenheimer et al CS 231 Motion Capture Data I The Pipeline Bodenheimer et al 1 Marker Magnetic Optical Marker placement On limbs vs joints neither is ideal Over tight clothing or thin skin In repeatable 'landmarks' Using

More information

CMSC 425: Lecture 10 Skeletal Animation and Skinning

CMSC 425: Lecture 10 Skeletal Animation and Skinning CMSC 425: Lecture 10 Skeletal Animation and Skinning Reading: Chapt 11 of Gregory, Game Engine Architecture. Recap: Last time we introduced the principal elements of skeletal models and discussed forward

More information

Computer Animation Fundamentals. Animation Methods Keyframing Interpolation Kinematics Inverse Kinematics

Computer Animation Fundamentals. Animation Methods Keyframing Interpolation Kinematics Inverse Kinematics Computer Animation Fundamentals Animation Methods Keyframing Interpolation Kinematics Inverse Kinematics Lecture 21 6.837 Fall 2001 Conventional Animation Draw each frame of the animation great control

More information

MOTION CAPTURE DATA PROCESSING - MOTION EDITING / RETARGETING - MOTION CONTROL / GRAPH - INVERSE KINEMATIC. Alexandre Meyer Master Informatique

MOTION CAPTURE DATA PROCESSING - MOTION EDITING / RETARGETING - MOTION CONTROL / GRAPH - INVERSE KINEMATIC. Alexandre Meyer Master Informatique 1 MOTION CAPTURE DATA PROCESSING - MOTION EDITING / RETARGETING - MOTION CONTROL / GRAPH - INVERSE KINEMATIC Alexandre Meyer Master Informatique Overview: Motion data processing In this course Motion editing

More information

Computer Graphics. Spring Feb Ghada Ahmed, PhD Dept. of Computer Science Helwan University

Computer Graphics. Spring Feb Ghada Ahmed, PhD Dept. of Computer Science Helwan University Spring 2018 13 Feb 2018, PhD ghada@fcih.net Agenda today s video 2 Starting video: Video 1 Video 2 What is Animation? Animation is the rapid display of a sequence of images to create an illusion of movement

More information

Inverse Kinematics II and Motion Capture

Inverse Kinematics II and Motion Capture Mathematical Foundations of Computer Graphics and Vision Inverse Kinematics II and Motion Capture Luca Ballan Institute of Visual Computing Comparison 0 1 A B 2 C 3 Fake exponential map Real exponential

More information

Motion Capture & Simulation

Motion Capture & Simulation Motion Capture & Simulation Motion Capture Character Reconstructions Joint Angles Need 3 points to compute a rigid body coordinate frame 1 st point gives 3D translation, 2 nd point gives 2 angles, 3 rd

More information

CS 231. Inverse Kinematics Intro to Motion Capture

CS 231. Inverse Kinematics Intro to Motion Capture CS 231 Inverse Kinematics Intro to Motion Capture Representation 1) Skeleton Origin (root) Joint centers/ bones lengths 2) Keyframes Pos/Rot Root (x) Joint Angles (q) 3D characters Kinematics study of

More information

Keyframing an IK Skeleton Maya 2012

Keyframing an IK Skeleton Maya 2012 2002-2012 Michael O'Rourke Keyframing an IK Skeleton Maya 2012 (This tutorial assumes you have done the Creating an Inverse Kinematic Skeleton tutorial in this set) Concepts Once you have built an Inverse

More information

This week. CENG 732 Computer Animation. Warping an Object. Warping an Object. 2D Grid Deformation. Warping an Object.

This week. CENG 732 Computer Animation. Warping an Object. Warping an Object. 2D Grid Deformation. Warping an Object. CENG 732 Computer Animation Spring 2006-2007 Week 4 Shape Deformation Animating Articulated Structures: Forward Kinematics/Inverse Kinematics This week Shape Deformation FFD: Free Form Deformation Hierarchical

More information

Animation of 3D surfaces.

Animation of 3D surfaces. Animation of 3D surfaces Motivations When character animation is controlled by skeleton set of hierarchical joints joints oriented by rotations the character shape still needs to be visible: visible =

More information

An Introduction to animation and motion blending

An Introduction to animation and motion blending An Introduction to animation and motion blending Stuart Bryson - 98082365 Information Technology Research Preparation University Technology, Sydney 14/06/2005 An introduction to animation and motion blending

More information

How does the magic happen?

How does the magic happen? CHARACTER ANIMATION Dr. Andreas Aristidou Image taken from https://marionettestudio.com/ How does the magic happen? 1 Overview Introduction to Character Animation Character Rigging Setup the skeletal system

More information

Basics of Design p. 2 Approaching Design as an Artist p. 4 Knowing Your Character p. 4 Making Decisions p. 4 Categories of Design p.

Basics of Design p. 2 Approaching Design as an Artist p. 4 Knowing Your Character p. 4 Making Decisions p. 4 Categories of Design p. Basics of Design p. 2 Approaching Design as an Artist p. 4 Knowing Your Character p. 4 Making Decisions p. 4 Categories of Design p. 6 Realistic Designs p. 6 Stylized Designs p. 7 Designing a Character

More information

计算机图形学. Computer Graphics 刘利刚.

计算机图形学. Computer Graphics 刘利刚. 计算机图形学 Computer Graphics 刘利刚 lgliu@ustc.edu.cn http://staff.ustc.edu.cn/~lgliu Computer Animation Skinning and Enveloping The slide are from Durand from MIT. Before getting started One more word about

More information

Motion Capture, Motion Edition

Motion Capture, Motion Edition Motion Capture, Motion Edition 2013-14 Overview Historical background Motion Capture, Motion Edition Motion capture systems Motion capture workflow Re-use of motion data Combining motion data and physical

More information

Character Animation 1

Character Animation 1 Character Animation 1 Overview Animation is a big topic We will concentrate on character animation as is used in many games today humans, animals, monsters, robots, etc. Character Representation A character

More information

Game Programming. Bing-Yu Chen National Taiwan University

Game Programming. Bing-Yu Chen National Taiwan University Game Programming Bing-Yu Chen National Taiwan University Character Motion Hierarchical Modeling Character Animation Motion Editing 1 Hierarchical Modeling Connected primitives 2 3D Example: A robot arm

More information

CS 775: Advanced Computer Graphics. Lecture 3 : Kinematics

CS 775: Advanced Computer Graphics. Lecture 3 : Kinematics CS 775: Advanced Computer Graphics Lecture 3 : Kinematics Traditional Cell Animation, hand drawn, 2D Lead Animator for keyframes http://animation.about.com/od/flashanimationtutorials/ss/flash31detanim2.htm

More information

Computer Animation. Michael Kazhdan ( /657) HB 16.5, 16.6 FvDFH 21.1, 21.3, 21.4

Computer Animation. Michael Kazhdan ( /657) HB 16.5, 16.6 FvDFH 21.1, 21.3, 21.4 Computer Animation Michael Kazhdan (601.457/657) HB 16.5, 16.6 FvDFH 21.1, 21.3, 21.4 Overview Some early animation history http://web.inter.nl.net/users/anima/index.htm http://www.public.iastate.edu/~rllew/chrnearl.html

More information

Inverse Kinematics Programming Assignment

Inverse Kinematics Programming Assignment Inverse Kinematics Programming Assignment CS 448D: Character Animation Due: Wednesday, April 29 th 11:59PM 1 Logistics In this programming assignment, you will implement a simple inverse kinematics solver

More information

Animation. CS 4620 Lecture 32. Cornell CS4620 Fall Kavita Bala

Animation. CS 4620 Lecture 32. Cornell CS4620 Fall Kavita Bala Animation CS 4620 Lecture 32 Cornell CS4620 Fall 2015 1 What is animation? Modeling = specifying shape using all the tools we ve seen: hierarchies, meshes, curved surfaces Animation = specifying shape

More information

Free-form deformation (FFD)

Free-form deformation (FFD) T.D. DeRose, M. Meyer, Harmonic Coordinates. Pixar Technical Memo #06-02 Free-form deformation (FFD) Advanced Computer Animation Techniques Aug-Dec 2014 cesteves@cimat.mx Free-form deformation (FFD) 2d

More information

Character Animation. Presented by: Pam Chow

Character Animation. Presented by: Pam Chow Character Animation Presented by: Pam Chow Overview Animation is a big topic We will concentrate on character animation as is used in many games today humans, animals, monsters, robots, etc. PLAZMO AND

More information

Reading. Animation principles. Required:

Reading. Animation principles. Required: Reading Required: Animation principles John Lasseter. Principles of traditional animation applied to 3D computer animation. Proceedings of SIGGRAPH (Computer Graphics) 21(4): 35-44, July 1987. Recommended:

More information

05 Mesh Animation. Steve Marschner CS5625 Spring 2016

05 Mesh Animation. Steve Marschner CS5625 Spring 2016 05 Mesh Animation Steve Marschner CS5625 Spring 2016 Basic surface deformation methods Blend shapes: make a mesh by combining several meshes Mesh skinning: deform a mesh based on an underlying skeleton

More information

Applications. Systems. Motion capture pipeline. Biomechanical analysis. Graphics research

Applications. Systems. Motion capture pipeline. Biomechanical analysis. Graphics research Motion capture Applications Systems Motion capture pipeline Biomechanical analysis Graphics research Applications Computer animation Biomechanics Robotics Cinema Video games Anthropology What is captured?

More information

CS354 Computer Graphics Character Animation and Skinning

CS354 Computer Graphics Character Animation and Skinning Slide Credit: Don Fussell CS354 Computer Graphics Character Animation and Skinning Qixing Huang April 9th 2018 Instance Transformation Start with a prototype object (a symbol) Each appearance of the object

More information

Animation. CS 4620 Lecture 19. Cornell CS4620 Fall 2013 Lecture Steve Marschner (with previous instructors James/Bala)

Animation. CS 4620 Lecture 19. Cornell CS4620 Fall 2013 Lecture Steve Marschner (with previous instructors James/Bala) Animation CS 4620 Lecture 19 1 What is animation? Modeling = specifying shape using all the tools we ve seen: hierarchies, meshes, curved surfaces Animation = specifying shape as a function of time just

More information

COMP371 COMPUTER GRAPHICS

COMP371 COMPUTER GRAPHICS COMP371 COMPUTER GRAPHICS SESSION 21 KEYFRAME ANIMATION 1 Lecture Overview Review of last class Next week Quiz #2 Project presentations rubric Today Keyframe Animation Programming Assignment #3 solution

More information

Kinematics. CS 448D: Character Animation Prof. Vladlen Koltun Stanford University

Kinematics. CS 448D: Character Animation Prof. Vladlen Koltun Stanford University Kinematics CS 448D: Character Animation Prof. Vladlen Koltun Stanford University Kinematics Kinematics: The science of pure motion, considered without reference to the matter of objects moved, or to the

More information

C O M P U T E R G R A P H I C S. Computer Animation. Guoying Zhao 1 / 66

C O M P U T E R G R A P H I C S. Computer Animation. Guoying Zhao 1 / 66 Computer Animation Guoying Zhao 1 / 66 Basic Elements of Computer Graphics Modeling construct the 3D model of the scene Rendering Render the 3D model, compute the color of each pixel. The color is related

More information

Lecture 22 of 41. Animation 2 of 3: Rotations, Quaternions Dynamics & Kinematics

Lecture 22 of 41. Animation 2 of 3: Rotations, Quaternions Dynamics & Kinematics Animation 2 of 3: Rotations, Quaternions Dynamics & Kinematics William H. Hsu Department of Computing and Information Sciences, KSU KSOL course pages: http://bit.ly/hgvxlh / http://bit.ly/evizre Public

More information

Lecture 22 of 41. Animation 2 of 3: Rotations, Quaternions Dynamics & Kinematics

Lecture 22 of 41. Animation 2 of 3: Rotations, Quaternions Dynamics & Kinematics Animation 2 of 3: Rotations, Quaternions Dynamics & Kinematics William H. Hsu Department of Computing and Information Sciences, KSU KSOL course pages: http://bit.ly/hgvxlh / http://bit.ly/evizre Public

More information

Virtual Production for the Real World Using Autodesk MotionBuilder 2013

Virtual Production for the Real World Using Autodesk MotionBuilder 2013 Virtual Production for the Real World Using Autodesk MotionBuilder 2013 Daryl Obert Autodesk Hein Beute- Xsens DG3148 This class will give attendees a firm understanding of the concepts and workflows involved

More information

Keyframe Animation. Animation. Computer Animation. Computer Animation. Animation vs Modeling. Animation vs Modeling

Keyframe Animation. Animation. Computer Animation. Computer Animation. Animation vs Modeling. Animation vs Modeling CSCI 420 Computer Graphics Lecture 19 Keyframe Animation Traditional Animation Keyframe Animation [Angel Ch. 9] Animation "There is no particular mystery in animation...it's really very simple, and like

More information

Thiruvarangan Ramaraj CS525 Graphics & Scientific Visualization Spring 2007, Presentation I, February 28 th 2007, 14:10 15:00. Topic (Research Paper):

Thiruvarangan Ramaraj CS525 Graphics & Scientific Visualization Spring 2007, Presentation I, February 28 th 2007, 14:10 15:00. Topic (Research Paper): Thiruvarangan Ramaraj CS525 Graphics & Scientific Visualization Spring 2007, Presentation I, February 28 th 2007, 14:10 15:00 Topic (Research Paper): Jinxian Chai and Jessica K. Hodgins, Performance Animation

More information

Style-based Inverse Kinematics

Style-based Inverse Kinematics Style-based Inverse Kinematics Keith Grochow, Steven L. Martin, Aaron Hertzmann, Zoran Popovic SIGGRAPH 04 Presentation by Peter Hess 1 Inverse Kinematics (1) Goal: Compute a human body pose from a set

More information

Deformation Transfer for Triangle Meshes

Deformation Transfer for Triangle Meshes Deformation Transfer for Triangle Meshes a Paper (SIGGRAPH 2004) by Robert W. Sumner & Jovan Popovic presented by Roni Oeschger Deformation Transfer Source deformed Target deformed 1 Outline of my presentation

More information

CS770/870 Spring 2017 Animation Basics

CS770/870 Spring 2017 Animation Basics Preview CS770/870 Spring 2017 Animation Basics Related material Angel 6e: 1.1.3, 8.6 Thalman, N and D. Thalman, Computer Animation, Encyclopedia of Computer Science, CRC Press. Lasseter, J. Principles

More information

CS770/870 Spring 2017 Animation Basics

CS770/870 Spring 2017 Animation Basics CS770/870 Spring 2017 Animation Basics Related material Angel 6e: 1.1.3, 8.6 Thalman, N and D. Thalman, Computer Animation, Encyclopedia of Computer Science, CRC Press. Lasseter, J. Principles of traditional

More information

Inverse Kinematics (part 1) CSE169: Computer Animation Instructor: Steve Rotenberg UCSD, Winter 2018

Inverse Kinematics (part 1) CSE169: Computer Animation Instructor: Steve Rotenberg UCSD, Winter 2018 Inverse Kinematics (part 1) CSE169: Computer Animation Instructor: Steve Rotenberg UCSD, Winter 2018 Welman, 1993 Inverse Kinematics and Geometric Constraints for Articulated Figure Manipulation, Chris

More information

Lecture 18 of 41. Scene Graphs: Rendering Lab 3b: Shader

Lecture 18 of 41. Scene Graphs: Rendering Lab 3b: Shader Scene Graphs: Rendering Lab 3b: Shader William H. Hsu Department of Computing and Information Sciences, KSU KSOL course pages: http://bit.ly/hgvxlh / http://bit.ly/evizre Public mirror web site: http://www.kddresearch.org/courses/cis636

More information

CS230 : Computer Graphics Lecture 12: Introduction to Animation. Tamar Shinar Computer Science & Engineering UC Riverside

CS230 : Computer Graphics Lecture 12: Introduction to Animation. Tamar Shinar Computer Science & Engineering UC Riverside CS230 : Computer Graphics Lecture 12: Introduction to Animation Tamar Shinar Computer Science & Engineering UC Riverside Types of animation keyframing rotoscoping stop motion procedural simulation motion

More information

Robotics Tasks. CS 188: Artificial Intelligence Spring Manipulator Robots. Mobile Robots. Degrees of Freedom. Sensors and Effectors

Robotics Tasks. CS 188: Artificial Intelligence Spring Manipulator Robots. Mobile Robots. Degrees of Freedom. Sensors and Effectors CS 188: Artificial Intelligence Spring 2006 Lecture 5: Robot Motion Planning 1/31/2006 Dan Klein UC Berkeley Many slides from either Stuart Russell or Andrew Moore Motion planning (today) How to move from

More information

MOTION capture is a technique and a process that

MOTION capture is a technique and a process that JOURNAL OF L A TEX CLASS FILES, VOL. 6, NO. 1, JANUARY 2008 1 Automatic estimation of skeletal motion from optical motion capture data xxx, Member, IEEE, Abstract Utilization of motion capture techniques

More information

Computer Graphics II

Computer Graphics II Computer Graphics II Autumn 2017-2018 Outline MoCap 1 MoCap MoCap in Context WP Vol. 2; Ch. 10 MoCap originated in TV and film industry but games industry was first to adopt the technology as a routine

More information

Pose Space Deformation A unified Approach to Shape Interpolation and Skeleton-Driven Deformation

Pose Space Deformation A unified Approach to Shape Interpolation and Skeleton-Driven Deformation Pose Space Deformation A unified Approach to Shape Interpolation and Skeleton-Driven Deformation J.P. Lewis Matt Cordner Nickson Fong Presented by 1 Talk Outline Character Animation Overview Problem Statement

More information

Why animate humans? Why is this hard? Aspects of the Problem. These lectures. Animation Apreciation 101

Why animate humans? Why is this hard? Aspects of the Problem. These lectures. Animation Apreciation 101 Animation by Example Lecture 1: Introduction, Human Representation Michael Gleicher University of Wisconsin- Madison www.cs.wisc.edu/~gleicher www.cs.wisc.edu/graphics Why animate humans? Movies Television

More information

MODELING AND HIERARCHY

MODELING AND HIERARCHY MODELING AND HIERARCHY Introduction Models are abstractions of the world both of the real world in which we live and of virtual worlds that we create with computers. We are all familiar with mathematical

More information