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Motion Planning in Motion Planning in Digital StudiosDigital Studios

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Manipulation planning Input

Robots R Movable objects M Obstacles

Output: a path that moves M and/or R from an initial configuration to a goal configuration.

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Composite configuration space CR x CM

CR

CM

0

-1 1

R

M

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Composite configuration space CR x CM

CR

CM

0

-1 1

R

M

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Composite configuration space CR x CM

CR

CM

0

-1 1

transit path

transfer path

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Paths Transit path

The robot moves alone.

Transfer path The robot moves with the movable object. A transfer path lies in a cross-section of the

composite C-space defined by the grasping relationship.

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How can motion planning help? Synthesize motion for digital actors Control the camera for viewers

Challenge: The motion must look “nice”!

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Motion synthesis Motion capture and re-targetting Dynamic simulation Motion planning

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Camera view generation

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First vs. third person view A first person view has a camera view from the

player's eyes or point of view. Paper by Saloman, etc. Example: computer games

A third person game has a camera view from outside the player's body, often from behind and left/right side. Paper by Nieuwenhuisen & Overmars Example: movies

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Walking vs. flying camera

walking cameraSaloman, et al.

flying cameraNieuwenhuisen & Overmars

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Cinematography Keep a distance from obstacles Keep the camera horizontal Control the speed of motion …

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Virtual bronchoscopy

S. Napel, 3D Medical Imaging Lab, Stanford