Principal Geodesic Dynamics

Tournier, Maxime; Reveret, Lionel

Principal Geodesic Dynamics

Files

235-244.pdf (808.67 KB)

paper1047.mp4 (26.9 MB)

Date

2012

Authors

Tournier, Maxime
Reveret, Lionel

Publisher

The Eurographics Association

Abstract

This paper presents a new integration of a data-driven approach using dimension reduction and a physicallybased simulation for real-time character animation. We exploit Lie group statistical analysis techniques (Principal Geodesic Analysis, PGA) to approximate the pose manifold of a motion capture sequence by a reduced set of pose geodesics. We integrate this kinematic parametrization into a physically-based animation approach of virtual characters, by using the PGA-reduced parametrization directly as generalized coordinates of a Lagrangian formulation of mechanics. In order to achieve real-time without sacrificing stability, we derive an explicit time integrator by approximating existing variational integrators. Finally, we test our approach in task-space motion control. By formulating both physical simulation and inverse kinematics time stepping schemes as two quadratic programs, we propose a features-based control algorithm that interpolates between the two metrics. This allows for an intuitive trade-off between realistic physical simulation and controllable kinematic manipulation.

        @inproceedings{:10.2312/SCA/SCA12/235-244
,
booktitle = {Eurographics/ ACM SIGGRAPH Symposium on Computer Animation
},
editor = {Jehee Lee and Paul Kry
},
title = {{Principal Geodesic Dynamics
}},
author = {Tournier, Maxime and 
Reveret, Lionel
},
year = {2012
},
publisher = {The Eurographics Association
},
ISSN = {1727-5288
},
ISBN = {978-3-905674-37-8
},
DOI = {/10.2312/SCA/SCA12/235-244
}
}