Lattice-guided human motion deformation for collision avoidance

Abstract

In this paper, we propose a lattice-guided human motion deformation method. Our key idea is to warp the motion space by applying an existing shape deformation technique to efficiently realize motion deformation for collision avoidance. An input motion is deformed based on the deformation of a lattice that covers the input motion. The lattice is constructed so that it covers an input motion, and it is deformed to avoid still or moving obstacles. The constraints to deform the lattice are determined based on the intersections between the vertices of the lattice that overlaps the character's body during the input motion and the space-time volume of the obstacles. Using these constraints, the lattice is deformed by applying an as-rigid-as-possible shape deformation. The joint positions of each frame pose of the input motion are altered by the lattice deformation and used to deform that frame pose. By introducing a lattice deformation, the constraints to deform a pose can be efficiently obtained while keeping space-time consistency. We evaluated our method using several motions and situations. The results show the effectiveness of our approach.