1. Assignment 2 Motion Graph Date: 2006/10/24 TA: 彭任右 alvin@caig.cs.nctu.edu.tw EC 229B Ext: 56676

2. 2 Framework Load the motion database Compute the pose difference Prune the graph to reduce the storage space Traverses the graph in real-time

3. 3 Structure Motion array –Must switch them when on-line playing. One single motion –Be careful when pruning the graph.

4. 4 Pose difference

5. 5 Distance Metric –Weighted joint angle and velocity difference –Weighted joint position and velocities –Weighted point clouds difference Future Cost

6. 6 Pruning Contact state User-specified threshold Local minimum Avoid dead-ends

7. 7 Local Minimum Search window Boundary

8. 8 Avoid dead-ends Must jump at the last transition point Must delete the bad transition

9. 9 Sparse Graph Edge Information (posture class) –Motion Index –Frame Index –Cost

10. 10 Traverse Transition Probabilities Continuity Maintain Current Frame Next Frame

11. 11 Continuity Maintain Current Frame Next Frame

12. 12 Continuity Maintain Current Frame Next Frame

13. 13 Blending at Transition

14. 14 You should hand in Source code 3 motion files –One for walking –Another for walking, running and jumping –The other for large database Report –Introduce what algorithms you used in your program

15. 15 Grading Results - 20% Continuity - 20% Online playing - 20% Report –Distance Metric Design - 10% –Speed up - 5% –Pruning - 15% –Smoothness - 10% Bonus –Path Fitting - 10%