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Inverse kinematics using sequential Monte Carlo methods

Nicolas Courty 1 Elise 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 an original approach to solve the Inverse Kinematics problem. Our framework is based on Sequential Monte Carlo Methods and has the advantage to avoid the classical pitfalls of numerical inversion methods since only direct calculations are required. The resulting algorithm accepts arbitrary constraints and exhibits linear complexity with respect to the number of degrees of freedom. Hence, the proposed system is far more efficient for articulated figures with a high number of degrees of freedom
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Submitted on : Monday, July 28, 2008 - 11:03:17 AM
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Nicolas Courty, Elise Arnaud. Inverse kinematics using sequential Monte Carlo methods. ADMO 2008 - 5th Conference on Articulated Motion and Deformable Object, Jul 2008, Port d'Andratx, Spain. pp.1-10, ⟨10.1007/978-3-540-70517-8_1⟩. ⟨inria-00306599⟩



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