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Sequential Monte Carlo Inverse Kinematics

Nicolas Courty 1 Élise Arnaud 2
2 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
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.
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Submitted on : Friday, February 8, 2008 - 11:32:40 AM
Last modification on : Monday, February 7, 2022 - 1:54:01 PM
Long-term archiving on: : Friday, November 25, 2016 - 8:28:55 PM

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  • HAL Id : inria-00194947, version 3

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

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