1. NUS CS 5247 David Hsu Motion Planning in Digital Studios

2. NUS CS 5247 David Hsu2 Manipulation planning  Input Robots R Movable objects M Obstacles  Output: a path that moves M and/or R from an initial configuration to a goal configuration.

3. NUS CS 5247 David Hsu3 Composite configuration space CR x CMCR x CM CRCR CMCM 0 1 R M

4. NUS CS 5247 David Hsu4 Composite configuration space CR x CMCR x CM CRCR CMCM 0 1 R M

5. NUS CS 5247 David Hsu5 Composite configuration space CR x CMCR x CM CRCR CMCM 0 1 transit path transfer path

6. NUS CS 5247 David Hsu6 Paths  Transit path The robot moves alone.  Transfer path The robot moves with the movable object. A transfer path lies in a cross-section of the composite C-space defined by the grasping relationship.

7. NUS CS 5247 David Hsu7 How can motion planning help?  Synthesize motion for digital actors  Control the camera for viewers  Challenge: The motion must look “nice”!

8. NUS CS 5247 David Hsu8 Motion synthesis  Motion capture and re-targetting  Dynamic simulation  Motion planning

9. NUS CS 5247 David Hsu9 12M triangles Camera view generation

10. NUS CS 5247 David Hsu10 First vs. third person view  A first person view has a camera view from the player's eyes or point of view. Paper by Saloman, etc. Example: computer games  A third person game has a camera view from outside the player's body, often from behind and left/right side. Paper by Nieuwenhuisen & Overmars Example: movies

11. NUS CS 5247 David Hsu11 Walking vs. flying camera walking camera Saloman, et al. flying camera Nieuwenhuisen & Overmars

12. NUS CS 5247 David Hsu12 Cinematography  Keep a distance from obstacles  Keep the camera horizontal  Control the speed of motion  …

13. NUS CS 5247 David Hsu13 Virtual bronchoscopy S. Napel, 3D Medical Imaging Lab, Stanford