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Computación y Sistemas

Print version ISSN 1405-5546

Comp. y Sist. vol.16 n.4 México Oct./Dec. 2012




A Motion Capture based Planner for Virtual Characters Navigating in 3D Environments


Un planificador basado en capturas de movimiento para personajes virtuales desplazándose en ambientes 3D


Juan Carlos Arenas-Mena1, Jean-Bernard Hayet1, and Claudia Esteves2


1 Centro de Investigación en Matemáticas, Guanajuato, Gto., México. Correo:,

2 Departamento de Matemáticas, Universidad de Guanajuato, Gto., México. Correo:


Article received on 09/02/2011.
Accepted on 03/11/2011.



In this work, a strategy to automatically generate eye-believable motions for a virtual character that navigates in a 3D environment is presented. The overall approach consists of four components as follows. (1) A state-of-the-art path planner that computes a collision-free reference path for the character's center of mass (COM). For this planner, a simplified model that bounds the character's geometry is proposed. (2) A segmentation algorithm that divides the path into behaviors. (3) A classifier that compares each behavior with the corresponding motion capture segments previously analyzed and stored in a database. (4) A whole-body motion generator that synthesizes the appropriate behavior determined by the classifier. The main contribution of this work is to produce a sampling-based global motion planner that generates different behaviors (in addition to locomotion) issued from environmental constraints. Several results of our algorithm in different environments are shown and its current limitations are discussed.

Keywords: I.3.7 computing methodologies, computer graphics, three-dimensional graphics and realism, motion planning, character animation, motion-capture classification.



En este trabajo se presenta una estrategia para generar automáticamente movimientos visualmente creíbles para un personaje virtual que navega en un ambiente 3D. Esta estrategia consta de 4 componentes: (1) Un planificador de movimientos que calcula un camino sin colisiones para el centro de masa (COM) del personaje. Para esto, se propone un modelo simplificado que envuelve la geometría del personaje. (2) Un algoritmo de segmentación que divide el camino en comportamientos. (3) Un clasificador que compara cada comportamiento con segmentos de captura de movimiento para identificar el tipo de comportamiento correspondiente. (4) Un controlador local de movimientos para todas las articulaciones del personaje que genera los comportamientos determinados por el clasificador. La contribución principal de este trabajo es producir un planificador de movimientos global basado en muestreos que genera diferentes comportamientos (además de locomoción) a partir de las restricciones del ambiente. Se muestran algunos resultados de aplicar esta estrategia en varios ambientes de prueba de para el personaje virtual y se discuten las limitantes del trabajo.

Palabras clave: I.3.7 metodologías computacionales, gráficas por computadora, gráficas tridimensionales y realismo, planificación de movimientos, animación de personajes, clasificación de comportamientos.





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