Motion Planning in Digital Studios

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Motion Planning in Digital 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

CM
CR
R
M
1
-1
0
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Composite configuration space

• CR x CM

CM
CR
R
M
1
-1
0
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Composite configuration space

• CR x CM

transit path
transfer path
CM
CR
1
-1
0
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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
12M triangles
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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 camera Saloman, et al.

• flying camera
• Nieuwenhuisen 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