Toward realistic and efficient virtual crowds. Julien Pettré - June 25, 2015 Habilitation à Diriger des Recherches

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1 Toward realistic and efficient virtual crowds Julien Pettré - June 25, 2015 Habilitation à Diriger des Recherches

2 A short Curriculum PhD degree from the University of Toulouse III Locomotion planning for digital actors 2005 Post-doc at EPFL, Switzerland Crowd animation, motion planning for crowds 2006 Researcher position at Inria Crowd modeling and simulation

3 Virtual Crowds 3 To understand, reproduce or predict the behaviour of real human crowds

4 Virtual Crowds 4 Transportation systems design Safety procedures Event planning Urban design Movie industry Game industry

5 Virtual Crowds 5 Observation Axis 1 Experimental studies Immersion Modeling Rendering Simulation Axis 4 Animation Techniques Animation Calibration Axis 2 Modeling & Simulation Evaluation Axis 3 Calibration & Evaluation

6 Axis 1 Experimental studies Introduction 6 To observe the behaviour of real human crowds Macroscopic Microscopic

7 Axis 1 Experimental studies Timeline ANR LOCANTHROPE EU TANGO ANR PEDIGREE 2012 Olivier et al., Minimal predicted distance', Gait & Posture Jelić et al., 'Properties of pedestrians walking in line: Fundamental diagrams', Physical Review E Jelić et al., 'Properties of pedestrians walking in line: Stepping behaviors', Physical Review E Lemercier et al., 'Realistic following behaviors for crowd simulation', Eurographics MoussaÏd et al., Traffic instabilities in self-organized pedestrian crowds, PLoS Computational Biology 2013 Olivier et al., 'Collision avoidance between two walkers: Roledependent strategies', Gait &Posture Perrinet et al., Walk with me: interactions in emotional walking situations, Symposium on Applied Perception Cirio et al. 'Kinematic Evaluation of Virtual Walking Trajectories', IEEE VR 2014 Olivier et al., 'A Virtual Reality Platform to Study Crowd Behaviors', Transportation Research Procedia 2015 Bruneau et al., Going through, going around: A study on individual avoidance of groups, IEEE VR Collision avoidance between 2 walkers [Olivier G&P 2013]

8 Axis 1 Experimental studies Timeline ANR LOCANTHROPE EU TANGO ANR PEDIGREE 2012 Olivier et al., Minimal predicted distance', Gait & Posture Jelić et al., 'Properties of pedestrians walking in line: Fundamental diagrams', Physical Review E Jelić et al., 'Properties of pedestrians walking in line: Stepping behaviors', Physical Review E Lemercier et al., 'Realistic following behaviors for crowd simulation', Eurographics MoussaÏd et al., Traffic instabilities in self-organized pedestrian crowds, PLoS Computational Biology 2013 Olivier et al., 'Collision avoidance between two walkers: Roledependent strategies', Gait &Posture Perrinet et al., Walk with me: interactions in emotional walking situations, Symposium on Applied Perception Cirio et al. 'Kinematic Evaluation of Virtual Walking Trajectories', IEEE VR 2014 Olivier et al., 'A Virtual Reality Platform to Study Crowd Behaviors', Transportation Research Procedia 2015 Bruneau et al., Going through, going around: A study on individual avoidance of groups, IEEE VR Influence of psychological factors [Perrinet et al. SAP 2013]

9 Axis 1 Experimental studies Timeline ANR LOCANTHROPE EU TANGO ANR PEDIGREE 2012 Olivier et al., Minimal predicted distance', Gait & Posture Jelić et al., 'Properties of pedestrians walking in line: Fundamental diagrams', Physical Review E Jelić et al., 'Properties of pedestrians walking in line: Stepping behaviors', Physical Review E Lemercier et al., 'Realistic following behaviors for crowd simulation', Eurographics MoussaÏd et al., Traffic instabilities in self-organized pedestrian crowds, PLoS Computational Biology 2013 Olivier et al., 'Collision avoidance between two walkers: Roledependent strategies', Gait &Posture Perrinet et al., Walk with me: interactions in emotional walking situations, Symposium on Applied Perception Cirio et al. 'Kinematic Evaluation of Virtual Walking Trajectories', IEEE VR 2014 Olivier et al., 'A Virtual Reality Platform to Study Crowd Behaviors', Transportation Research Procedia 2015 Bruneau et al., Going through, going around: A study on individual avoidance of groups, IEEE VR Using Virtual Reality to control experimental conditions [Bruneau et al. IEEE VR 2015]

10 Axis 1 Experimental studies Timeline ANR LOCANTHROPE EU TANGO ANR PEDIGREE 2012 Olivier et al., Minimal predicted distance', Gait & Posture Jelić et al., 'Properties of pedestrians walking in line: Fundamental diagrams', Physical Review E Jelić et al., 'Properties of pedestrians walking in line: Stepping behaviors', Physical Review E Lemercier et al., 'Realistic following behaviors for crowd simulation', Eurographics MoussaÏd et al., Traffic instabilities in self-organized pedestrian crowds, PLoS Computational Biology 2013 Olivier et al., 'Collision avoidance between two walkers: Roledependent strategies', Gait &Posture Perrinet et al., Walk with me: interactions in emotional walking situations, Symposium on Applied Perception Cirio et al. 'Kinematic Evaluation of Virtual Walking Trajectories', IEEE VR 2014 Olivier et al., 'A Virtual Reality Platform to Study Crowd Behaviors', Transportation Research Procedia 2015 Bruneau et al., Going through, going around: A study on individual avoidance of groups, IEEE VR Observe emergent traffic patterns [Moussaid et al. Plos CB 2012]

11 [Lemercier et al. Eurographics 2012] Axis 1 Experimental studies Following behaviors 11

12 speed(m.s-1) Axis 1 Experimental studies Following behaviors 12

13 speed(m.s-1) Axis 1 Experimental studies Following behaviors 13 [Lemercier et al. Eurographics 2012]

14 Axis 1 Experimental studies Following behaviors 14 φ = 0 φ = π [Jelic et al. Physical Review E 2012]

15 speed(m.s-1) Axis 1 Experimental studies Following behaviors 15 Counter flow propagation of the stop wave Slow walk phase Normal walk phase

16 Axis 1 Experimental studies Following behaviors 16

17 Axis 1 Experimental studies Following behaviors 17 [Jelic et al. Physical Review E 2012]

18 Axis 1 Experimental studies Following behaviors 18 Derived simulation model a = C v t + τ. ρ γ Parameter estimation on experimental data: [Lemercier et al. Eurographics 2012]

19 Axis 1 Experimental studies Following behaviors 19 [Lemercier et al. Eurographics 2012] Just in case

20 Axis 1 Experimental studies Contributions: Conclusion 20 Future directions:

21 Virtual Crowds 21 Observation Axis 1 Experimental studies Immersion Modeling Rendering Simulation Axis 2 Modeling & Simulation Animation Calibration Evaluation

22 Axis 2 Modeling & Simulation Introduction 22 To describe - mathematically, algorithmically - local interactions between agents

23 Axis 2 Modeling & Simulation Local Interactions 23 goal 2 agent 3 goal 1 Avoidance: d > s Repulsive forces: F 1,i = r d. P i P 1 P i P 1 agent 1 agent 2 Motion: a 1 = F 1,goal1 + F 1,i i goal 3

24 Axis 2 Modeling & Simulation Local Interactions 24 goal 2 agent 3 goal 1 Avoidance: d(t future ) > s Constant velocity hypothesis future distance of closest approach agent 1 agent 2 Admissible velocities: VA 1 2 = {v 1 t t 0, t 0 + τ, d(t) > s} goal 3

25 Axis 2 Modeling & Simulation Timeline Paris et al., Pedestrian reactive navigation for crowd simulation: a predictive approach, Eurographics 2009 Pettré et al., Experiment-based modeling, simulation and validation of interactions between virtual walkers, Symposium on Computer Animation 2010 Ondrej et al., A synthetic-vision based steering approach for crowd simulation, SIGGRAPH 2012 Lemercier et al., Realistic following behaviors for crowd simulation, Eurographics 2014 ANR PERCOLATION Bruneau et al., Following Behaviors: A Model for Computing Following Distances, Motion in Games 2015 Bruneau et al., Energy-efficient mid-term strategies for collision avoidance in crowd simulation, Symposium on Computer Animation Collision avoidance: geometrical approaches [Paris et al. Eurographics 2007] [Pettré et al. SCA 2009]

26 Axis 2 Modeling & Simulation Timeline Paris et al., Pedestrian reactive navigation for crowd simulation: a predictive approach, Eurographics 2009 Pettré et al., Experiment-based modeling, simulation and validation of interactions between virtual walkers, Symposium on Computer Animation 2010 Ondrej et al., A synthetic-vision based steering approach for crowd simulation, SIGGRAPH 2012 Lemercier et al., Realistic following behaviors for crowd simulation, Eurographics 2014 ANR PERCOLATION Bruneau et al., Following Behaviors: A Model for Computing Following Distances, Motion in Games 2015 Bruneau et al., Energy-efficient mid-term strategies for collision avoidance in crowd simulation, Symposium on Computer Animation Following Behaviors [Lemercier et al. Eurographics 2012] [Bruneau et al. MIG 2014]

27 Axis 2 Modeling & Simulation Timeline Paris et al., Pedestrian reactive navigation for crowd simulation: a predictive approach, Eurographics 2009 Pettré et al., Experiment-based modeling, simulation and validation of interactions between virtual walkers, Symposium on Computer Animation 2010 Ondrej et al., A synthetic-vision based steering approach for crowd simulation, SIGGRAPH 2012 Lemercier et al., Realistic following behaviors for crowd simulation, Eurographics 2014 ANR PERCOLATION Bruneau et al., Following Behaviors: A Model for Computing Following Distances, Motion in Games 2015 Bruneau et al., Energy-efficient mid-term strategies for collision avoidance in crowd simulation, Symposium on Computer Animation Mid-term strategies [Bruneau et al. SCA 2015]

28 Axis 2 Modeling & Simulation Timeline Paris et al., Pedestrian reactive navigation for crowd simulation: a predictive approach, Eurographics 2009 Pettré et al., Experiment-based modeling, simulation and validation of interactions between virtual walkers, Symposium on Computer Animation 2010 Ondrej et al., A synthetic-vision based steering approach for crowd simulation, SIGGRAPH 2012 Lemercier et al., Realistic following behaviors for crowd simulation, Eurographics 2014 ANR PERCOLATION Bruneau et al., Following Behaviors: A Model for Computing Following Distances, Motion in Games 2015 Bruneau et al., Energy-efficient mid-term strategies for collision avoidance in crowd simulation, Symposium on Computer Animation Realistic perception-action loop

29 Axis 2 Modeling & Simulation Synthetic Vision 29. (a i, ttc i )

30 Axis 2 Modeling & Simulation Synthetic Vision 30 No Collision ttc 10 Future Collision (s) No Collision. (a i, ttc i ) Imminent Collision -π/2 0 π/2. a (rad/s)

31 Axis 2 Modeling & Simulation Synthetic Vision 31 [Ondrej et al. SIGGRAPH 2010] Just in case

32 Axis 2 Modeling & Simulation Synthetic Vision 32 [Ondrej SIGGRAPH 2010] Just in case

33 Axis 2 Modeling & Simulation Conclusion 33 Original simulation models and algorithms: Future directions:

34 Virtual Crowds 34 Observation Axis 1 Experimental studies Immersion Modeling Rendering Simulation Axis 2 Modeling & Simulation Animation Calibration Evaluation Axis 3 Calibration & Evaluation

35 Axis 3 Calibration & Evaluation Introduction 35 To compare real and virtual crowds

36 Axis 3 Calibration & Evaluation Timeline Paris et al., Pedestrian reactive navigation for crowd simulation: a predictive approach, Eurographics 2009 Pettré et al., Experiment-based modeling, simulation and validation of interactions between virtual walkers, Symposium on Computer Animation 2010 Ondrej et al., A synthetic-vision based steering approach for crowd simulation, SIGGRAPH 2012 Lemercier et al., Realistic following behaviors for crowd simulation, Eurographics 2014 Wolinski et al., Parameter estimation and comparative evaluation of crowd simulations, Eurographics 2015 Bruneau et al., Going through, going around: A study on individual avoidance of groups, IEEE VR Visual comparisons

37 Axis 3 Calibration & Evaluation Timeline Paris et al., Pedestrian reactive navigation for crowd simulation: a predictive approach, Eurographics 2009 Pettré et al., Experiment-based modeling, simulation and validation of interactions between virtual walkers, Symposium on Computer Animation 2010 Ondrej et al., A synthetic-vision based steering approach for crowd simulation, SIGGRAPH 2012 Lemercier et al., Realistic following behaviors for crowd simulation, Eurographics 2014 Wolinski et al., Parameter estimation and comparative evaluation of crowd simulations, Eurographics 2015 Bruneau et al., Going through, going around: A study on individual avoidance of groups, IEEE VR Quantitative comparisons Force-based Velocity-based

38 Axis 3 Calibration & Evaluation Timeline Paris et al., Pedestrian reactive navigation for crowd simulation: a predictive approach, Eurographics 2009 Pettré et al., Experiment-based modeling, simulation and validation of interactions between virtual walkers, Symposium on Computer Animation 2010 Ondrej et al., A synthetic-vision based steering approach for crowd simulation, SIGGRAPH 2012 Lemercier et al., Realistic following behaviors for crowd simulation, Eurographics 2014 Wolinski et al., Parameter estimation and comparative evaluation of crowd simulations, Eurographics 2015 Bruneau et al., Going through, going around: A study on individual avoidance of groups, IEEE VR Using Virtual Reality [Bruneau et al. IEEE VR 2015]

39 Axis 3 Calibration & Evaluation Timeline Paris et al., Pedestrian reactive navigation for crowd simulation: a predictive approach, Eurographics 2009 Pettré et al., Experiment-based modeling, simulation and validation of interactions between virtual walkers, Symposium on Computer Animation 2010 Ondrej et al., A synthetic-vision based steering approach for crowd simulation, SIGGRAPH 2012 Lemercier et al., Realistic following behaviors for crowd simulation, Eurographics 2014 Wolinski et al., Parameter estimation and comparative evaluation of crowd simulations, Eurographics 2015 Bruneau et al., Going through, going around: A study on individual avoidance of groups, IEEE VR Calibration [Wolinski et al. Eurographics 2014]

40 Axis 3 Calibration & Evaluation Parameter estimation 40 [Wolinski et al. Eurographics 2014]

41 [Wolinski et al. Eurographics 2014] Axis 3 Calibration & Evaluation Parameter estimation 41 Real Trajectories Simulated Trajectories Difference Just in case

42 [Wolinski et al. Eurographics 2014] Axis 3 Calibration & Evaluation Parameter estimation 42 Real Trajectories Simulated Trajectories Difference Just in case

43 Axis 3 Calibration & Evaluation Conclusion 43 Contributions: Future directions:? =

44 Virtual Crowds 44 Observation Axis 1 Experimental studies Immersion Modeling Rendering Axis 4 Animation Techniques Animation Calibration Simulation Axis 2 Modeling & Simulation Evaluation Axis 3 Calibration & Evaluation

45 Axis 4 Animation techniques Introduction 45 To implement virtual crowds Rockstar (GTA V)

46 Axis 4 Animation techniques Timeline Pettré et al., Real time navigating crowds: scalable simulation and rendering, Computer Animation and Social Agents 2009 Yersin et al., Crowd patches: populating large-scale virtual environments for real-time applications, Interactive 3D Graphics 2011 Kulpa et al., Imperceptible relaxation of collision avoidance constraints in virtual crowds, SIGGRAPH Asia Zhang et al., Online inserting virtual characters into dynamic video scenes, Computer Animation and Virtual Worlds 2012 ANR CHROME Li et al., Cloning crowd motions, Symposium on Computer Animation 2013 Ren et al., Inserting virtual pedestrians into pedestrian groups video with behavior consistency, The Visual Computer 2014 Ramirez et al., Optimization-based computation of locomotion trajectories for crowd patches, Motion in Games Jordao et al., Sculpting crowd motion, Eurographics Level of detail strategies [Pettré et al. CASA 2006] [Kulpa et al. SIGGRAPH Asia 2014]

47 Axis 4 Animation techniques Timeline Pettré et al., Real time navigating crowds: scalable simulation and rendering, Computer Animation and Social Agents 2009 Yersin et al., Crowd patches: populating large-scale virtual environments for real-time applications, Interactive 3D Graphics 2011 Kulpa et al., Imperceptible relaxation of collision avoidance constraints in virtual crowds, SIGGRAPH Asia Zhang et al., Online inserting virtual characters into dynamic video scenes, Computer Animation and Virtual Worlds 2012 ANR CHROME Li et al., Cloning crowd motions, Symposium on Computer Animation 2013 Ren et al., Inserting virtual pedestrians into pedestrian groups video with behavior consistency, The Visual Computer 2014 Ramirez et al., Optimization-based computation of locomotion trajectories for crowd patches, Motion in Games Jordao et al., Sculpting crowd motion, Eurographics Augmented Reality [Ren et al. The visual Computer 2013]

48 Axis 4 Animation techniques Timeline Pettré et al., Real time navigating crowds: scalable simulation and rendering, Computer Animation and Social Agents 2009 Yersin et al., Crowd patches: populating large-scale virtual environments for real-time applications, Interactive 3D Graphics 2011 Kulpa et al., Imperceptible relaxation of collision avoidance constraints in virtual crowds, SIGGRAPH Asia Zhang et al., Online inserting virtual characters into dynamic video scenes, Computer Animation and Virtual Worlds 2012 ANR CHROME Li et al., Cloning crowd motions, Symposium on Computer Animation 2013 Ren et al., Inserting virtual pedestrians into pedestrian groups video with behavior consistency, The Visual Computer 2014 Ramirez et al., Optimization-based computation of locomotion trajectories for crowd patches, Motion in Games Jordao et al., Sculpting crowd motion, Eurographics Crowd Patches [Yersin et al. I3D 2009] [Jordao et al. Eurographics 2014]

49 Axis 4 Animation techniques Crowd patches 49 [Yersin et al. I3D 2009] Just in case

50 Axis 4 Animation techniques Sculpting crowds 50 [Jordao et al. Eurographics 2014] Just in case

51 Axis 4 Animation techniques Conclusion 51 Contributions: Future directions: [Wolinski et al. Eurographics 2014]

52 Virtual Crowds 52 Observation Axis 1 Experimental studies Immersion Modeling Rendering Axis 4 Animation Techniques Animation Calibration Simulation Axis 2 Modeling & Simulation Evaluation Axis 3 Calibration & Evaluation

53 Descartes Perspectives 53 Sensorimotor simulation agents

54 [Tonneau et al. Computer & Graphics 2014] Perspectives 54 Sensorimotor simulation agents

55 Perspectives 55 Immersive populated spaces [Bruneau et al. IEEE VR 2015]

56 Perspectives 56 Pedestrian traffic forecast

57 Thank you! 57 PhD students and postdocs: Julien Bruneau Panayiotis Charalambous Teofilo Dutra Kevin Jordao Samuel Lemercier Yi Li Ricardo Marques Jan Ondrej Jonathan Perrinet Zhiguo Ren Steve Tonneau David Wolinski Yijiang Zhang Collaborators : Cecile Appert-Rolland Alain Berthoz Marie-Paule Cani Marc Christie Armel Crétual Pierre Degond Stéphane Donikian Richard Kulpa Jean-Paul Laumond Franck Multon Anne-Hélène Olivier Daniel Thalmann

58 A more special thank 58 To colleagues for all the fun hard work To family for accepting bad deadlines during christmas holidays (e.g., SIGGRAPH) and conferences during summer holidays (e.g., SIGGRAPH)

59 59

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