Existing techniques for motion imitation often suffer a certain level of latency due to their computational overhead or a large set of correspondence samples to search. To achieve real-time imitation with small latency, we present a framework in this paper to reconstruct motion on humanoids based on sparsely sampled correspondence. The imitation problem is formulated as finding the projection of a point from the configuration space of a human's poses into the configuration space of a humanoid. An optimal projection is defined as the one that minimizes a back-projected deviation among a group of candidates, which can be determined in a very efficient way. Benefited from this formulation, effective projections can be obtained by using sparsely sampled correspondence, whose generation scheme is also introduced in this paper. Our method is evaluated by applying the human's motion captured by an RGB-depth (RGB-D) sensor to a humanoid in real time. Continuous motion can be realized and used in the example application of teleoperation.
Motion Imitation Based on Sparsely Sampled Correspondence
Contributed by the Computers and Information Division of ASME for publication in the JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING. Manuscript received August 16, 2016; final manuscript received May 2, 2017; published online June 15, 2017. Editor: Bahram Ravani.
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Jin, S., Dai, C., Liu, Y., and Wang, C. C. L. (June 15, 2017). "Motion Imitation Based on Sparsely Sampled Correspondence." ASME. J. Comput. Inf. Sci. Eng. December 2017; 17(4): 041009. https://doi.org/10.1115/1.4036923
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