A joint-constraint model for human joints using signed distance-fields
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A joint-constraint model for human joints using signed distance-fields. / Engell-Nørregård, Morten Pol; Abel, Sarah Maria Niebe; Erleben, Kenny.
In: Multibody System Dynamics, Vol. 28, No. 1, 2012, p. 69-81.Research output: Contribution to journal › Journal article › Research › peer-review
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TY - JOUR
T1 - A joint-constraint model for human joints using signed distance-fields
AU - Engell-Nørregård, Morten Pol
AU - Abel, Sarah Maria Niebe
AU - Erleben, Kenny
PY - 2012
Y1 - 2012
N2 - We present a local joint-constraint model for a single joint which is based on distance fields. Our model is fast, general, and well suited for modeling human joints. In this work, we take a geometric approach and model the geometry of the boundary of the feasible region, i.e., the boundary of all allowed poses. A region of feasible poses can be built by embedding motion captured data points in a signed distance field. The only assumption is that the feasible poses form a single connected set of angular values. We show how signed distance fields can be used to generate fast and general joint-constraint models for kinematic figures. Our model is compared to existing joint-constraint models, both in terms of generality and computational cost.The presented method supports joint-constraints of up to three degrees of freedom and works well with sampled motion data. Our model can be extended to handle inter-joint dependencies, or joints with more than three degrees of freedom. The resolution of the joint-constraints can be tweaked individually for each degree of freedom, which can be used to optimize memory usage. We perform a comparative study of the key-properties of various joint-constraint models, as well as a performance study of our model compared to the fastest alternative, the box limit model. The study is performed on the shoulder joint, using a motion captured jumping motion as reference.
AB - We present a local joint-constraint model for a single joint which is based on distance fields. Our model is fast, general, and well suited for modeling human joints. In this work, we take a geometric approach and model the geometry of the boundary of the feasible region, i.e., the boundary of all allowed poses. A region of feasible poses can be built by embedding motion captured data points in a signed distance field. The only assumption is that the feasible poses form a single connected set of angular values. We show how signed distance fields can be used to generate fast and general joint-constraint models for kinematic figures. Our model is compared to existing joint-constraint models, both in terms of generality and computational cost.The presented method supports joint-constraints of up to three degrees of freedom and works well with sampled motion data. Our model can be extended to handle inter-joint dependencies, or joints with more than three degrees of freedom. The resolution of the joint-constraints can be tweaked individually for each degree of freedom, which can be used to optimize memory usage. We perform a comparative study of the key-properties of various joint-constraint models, as well as a performance study of our model compared to the fastest alternative, the box limit model. The study is performed on the shoulder joint, using a motion captured jumping motion as reference.
U2 - 10.1007/s11044-011-9296-1
DO - 10.1007/s11044-011-9296-1
M3 - Journal article
VL - 28
SP - 69
EP - 81
JO - Multibody System Dynamics
JF - Multibody System Dynamics
SN - 1384-5640
IS - 1
ER -
ID: 35942703