Sequential Monte Carlo Inverse Kinematics

Nicolas Courty 1 Elise Arnaud 2
2 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : In this paper we propose a new and original approach to solve the Inverse Kinematics problem. Our approach has the advantages to avoid the classical pitfalls of numerical inversion methods such as singularities, accept arbitrary types of constraints and exhibit a linear complexity with respect to degrees of freedom which makes it far more efficient for articulated figures with a high number of degrees of freedom. Our framework is based on Sequential Monte Carlo Methods that were initially designed to filter highly non-linear, non-Gaussian dynamic systems. They are used here in an online motion control algorithm that allows to integrate motion priors. Along with practical results that show the effectiveness and convenience of our method, we also describe potential follow-ups for our work.
Document type :
Reports
Complete list of metadatas

Cited literature [27 references]  Display  Hide  Download


https://hal.inria.fr/inria-00194947
Contributor : Elise Arnaud <>
Submitted on : Friday, February 8, 2008 - 11:32:40 AM
Last modification on : Wednesday, April 11, 2018 - 1:59:06 AM
Long-term archiving on : Friday, November 25, 2016 - 8:28:55 PM

Files

RR-6426.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00194947, version 3

Citation

Nicolas Courty, Elise Arnaud. Sequential Monte Carlo Inverse Kinematics. [Research Report] RR-6426, INRIA. 2007, pp.24. ⟨inria-00194947v3⟩

Share

Metrics

Record views

442

Files downloads

299