1. Comparing Two Motions Jehee Lee Seoul National University

2. Distance Metric for Motion Sequences How can we measure the difference between two stylistic walking motions? How do we represent motion sequences? –Rotation/orientation makes problems We do we compare two time-series data? –What if the duration of one series differ from the other?

3. Affine Geometry Jehee Lee Seoul National University

4. Geometric Programming A way of handling geometric entities such as vectors, points, and transforms. Traditionally, computer graphics packages are implemented using homogeneous coordinates. We will review affine geometry and coordinate-invariant geometric programming.

5. Example of coordinate-dependence What is the “sum” of these two positions ? Point p Point q

6. If you assume coordinates, … The sum is (x 1 +x 2, y 1 +y 2 ) –Is it correct ? –Is it geometrically meaningful ? p = (x 1, y 1 ) q = (x 2, y 2 )

7. If you assume coordinates, … p = (x 1, y 1 ) q = (x 2, y 2 ) Origin (x 1 +x 2, y 1 +y 2 ) Vector sum –(x 1, y 1 ) and (x 2, y 2 ) are considered as vectors from the origin to p and q, respectively.

8. If you select a different origin, … p = (x 1, y 1 ) q = (x 2, y 2 ) Origin (x 1 +x 2, y 1 +y 2 ) If you choose a different coordinate frame, you will get a different result

9. Vector and Affine Spaces Vector space –Includes vectors and related operations –No points Affine space –Superset of vector space –Includes vectors, points, and related operations

10. Points and Vectors A point is a position specified with coordinate values. A vector is specified as the difference between two points. If an origin is specified, then a point can be represented by a vector from the origin. But, a point is still not a vector in a coordinate-free point of view. Point p Point q vector (p-q)

11. Vector spaces A vector space consists of –Set of vectors, together with –Two operations: addition of vectors and multiplication of vectors by scalar numbers A linear combination of vectors is also a vector

12. Affine Spaces An affine space consists of –Set of points, an associated vector space, and –Two operations: the difference between two points and the addition of a vector to a point

13. Coordinate-Invariant Geometric Operations Addition Subtraction Scalar multiplication Linear combination Affine combination

14. Addition u v u + v p p + w u + v is a vectorp + w is a point w u, v, w : vectors p, q : points

15. Subtraction v u - v u q p u - v is a vectorp - q is a vector p - q p p - w p - w is a point -w u, v, w : vectors p, q : points

16. Scalar Multiplication scalar vector = vector 1 point = point 0 point = vector c point = (undefined) if (c≠0,1)

17. Linear Combination A linear space is spanned by a set of bases –Any vector in the space can be represented as a linear combination of bases

18. Affine Combination

19. Example (p + q) / 2 : midpoint of line pq (p + q) / 3 : Can you find a geometric meaning ? (p + q + r) / 3 : center of gravity of ∆pqr (p/2 + q/2 – r) : a vector from r to the midpoint of q and p

20. Summary

21. Rotation and Orientation: Fundamentals Jehee Lee Seoul National University

22. What is Rotation ? Not intuitive –Formal definitions are also confusing Many different ways to describe –Rotation (direction cosine) matrix –Euler angles –Axis-angle –Rotation vector –Helical angles –Unit quaternions

23. Orientation vs. Rotation Rotation –Circular movement Orientation –The state of being oriented –Given a coordinate system, the orientation of an object can be represented as a rotation from a reference pose

24. Analogy (point : vector) is similar to (orientation : rotation) Both represent a sort of (state : movement) Reference coordinate system

25. Analogy (point : vector) is similar to (orientation : rotation) Both represent a sort of (state : movement) Reference coordinate system point : the 3d location of the bunny vector : translational movement

26. Analogy (point : vector) is similar to (orientation : rotation) Both represent a sort of (state : movement) Reference coordinate system point : the 3d location of the bunny vector : translational movement orientation : the 3d orientation of the bunny rotation : circular movement

27. 2D Orientation Polar Coordinates

28. 2D Orientation Although the motion is continuous, its representation could be discontinuous

29. 2D Orientation Many-to-one correspondences between 2D orientations and their representations

30. Extra Parameter

31. 2x2 Rotation matrix is yet another method of using extra parameters

32. Complex Number Real Imaginary

33. Complex Exponentiation Real Imaginary

34. 2D Rotation Complex numbers are good for representing 2D orientations, but inadequate for 2D rotations A complex number cannot distinguish different rotational movements that result in the same final orientation –Turn 120 degree counter-clockwise –Turn -240 degree clockwise –Turn 480 degree counter-clockwise Real Imaginary

35. 2D Rotation and Orientation 2D Rotation –The consequence of any 2D rotational movement can be uniquely represented by a turning angle 2D Orientation –The non-singular parameterization of 2D orientations requires extra parameters Eg) Complex numbers, 2x2 rotation matrices

36. Operations in 2D (orientation) : complex number (rotation) : scalar value exp(rotation) : complex number

37. 2D Rotation and Displacement Real Imaginary

38. 2D Rotation and Displacement Real Imaginary

39. 2D Orientation Composition Real Imaginary

40. 2D Rotation Composition Real Imaginary

41. Analogy

42. 3D Rotation Given two arbitrary orientations of a rigid object,

43. 3D Rotation We can always find a fixed axis of rotation and an angle about the axis

44. Euler’s Rotation Theorem In other words, Arbitrary 3D rotation equals to one rotation around an axis Any 3D rotation leaves one vector unchanged The general displacement of a rigid body with one point fixed is a rotation about some axis Leonhard Euler (1707-1783)

45. Rotation Vector Rotation vector (3 parameters) Axis-Angle (2+1 parameters)

46. 3D Orientation Unhappy with three parameters –Euler angles Discontinuity (or many-to-one correspondences) Gimble lock –Rotation vector (a.k.a Axis/Angle) Discontinuity (or many-to-one correspondences)

47. Using an Extra Parameter Euler parameters

48. Quaternions William Rowan Hamilton (1805-1865) –Algebraic couples (complex number) 1833 where

49. Quaternions William Rowan Hamilton (1805-1865) –Algebraic couples (complex number) 1833 –Quaternions 1843 where

50. Unit Quaternions Unit quaternions represent 3D rotations

51. Rotation about an Arbitrary Axis Rotation about axis by angle where Purely Imaginary Quaternion

52. Unit Quaternion Algebra Identity Multiplication Inverse –Opposite axis or negative angle Unit quaternion space is –closed under multiplication and inverse, –but not closed under addition and subtraction

53. Unit Quaternion Algebra Antipodal equivalence –q and –q represent the same rotation –ex) rotation by  about opposite direction –2-to-1 mapping between S and SO(3) –Twice as fast as in SO(3) 3

54. 3D Orientations and Rotations Orientations and rotations are different in coordinate-invariant geometric programming Use unit quaternions for orientation representation –3x3 orthogonal matrix is theoretically identical Use 3-vectors for rotation representation

55. Tangent Vector (Infinitesimal Rotation)

57. Angular Velocity

58. Exp and Log logexp

59. Exp and Log logexp Euler parameters

60. Rotation Vector

63. Geodesic Distance

64. Coordinate-Invariant Operations

65. Dynamic Time Warping The vertex correspondence problem –Minimize the sum of distances between corresponding vertices –The correspondence must be continuous No missing vertices No cross edges (No turning back in time) Signal A Signal B

66. Dynamic Time Warping Find a chain from top-left to bottom-right –Allowed to move horizontally, vertically, or diagonally