Boulic R., Capin T., Huang Z., Kalra P., Lintermann B., Magnenat-Thalmann N., Moccozet L., Molet T., Pandzic I., Saar K., Schmitt A., Shen J., Thalmann D., "The Humanoid Environment for Interactive Animation of Multiple Deformable Human Characters", Proceedings of Eurographics '95, 1995.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....next frames. Therefore, the characteristics of the simulation, and the body model should be taken into account for developing the algorithm. 3 Virtual Human Representation Real time representation and animation of virtual human figures has been a challenging and active area in computer graphics [Boulic 95] Badler 93] Typically, an articulated structure corresponding to the human skeleton is needed for the control of the body posture. Structures representing the body shape have to be attached to the skeleton, and clothes may be wrapped around the body shape. We use the HUMANOID articulated human ....

R. Boulic et al. "The HUMANOID environment for Interactive Animation of Multiple Deformable Human Characters", Proc. Eurographics'95, 1995.

....human walking has comparable joint angle variations. However, at a close up, we notice that individual walk characteristics are overlaid to the global walking gait. We use the walking engine described in [8] which has been extended in the context of a european project on virtual human modeling [9] Our contribution consists in integrating the walking engine as a specialized action in the animation framework. Walking is defined by the following characteristics (Figure 5 9) it is a motion where the centre of gravity alternatively balances from the fight to the left side. at any time, at ....

R.Boulic, T.Capin, Z.Huang, L.Moccozet, T.Molet, P.Kalra, B.Lintermann, N.Magnenat-Thalmann, I.Pandzic, K.Saar, A.Schmitt, J.Shen, D.Thalmann, The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters, Proc. Eurographics '95, Maastricht, August 1995, pp.337-348.

....jog, and run. These motions give an appropriate interface for navigating in the NVE, and using different bodies provide identification. 3. Virtual human representation Real time representation and animation of virtual human figures has been a challenging and active area in computer graphics [1][2]. Typically, an articulated structure corresponding to the human skeleton is needed for the control of the body posture. Structures representing the body shape have to be attached to the skeleton. We use the proposed MPEG 4 SNHC articulated human body model [9] with 125 degrees of freedom without ....

R. Boulic, et al., "The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters", Proc. Eurographics 95, Maastricht, August 1995, pp. 337-348.

....among others, a BDI based or equivalent component. The merging of intelligent agent systems, artificial life and classical VR techniques has given birth to the field of Intelligent Virtual Environments (IVEs) Typical examples involving IVEs and general virtual agents include Humanoid [2], Creatures [8] Artificial Fishes [17] and others. The CoMMA COGs [5] project (Cooperative Man Machine Architectures Cognitive Architecture for Social Agents) is an architecture for Multi Agent systems and animated virtual environments, developed by the German Research Center for Artificial ....

Boulic, R., Capin, T., Huang, Z., Moccozet, L., Molet, T., Kalra, P., Lintermann, B., Magnenat-Thalmann, N., Pandzic, I., Saar, K.,Schmitt, A., Shen, J., Thalmann, D.: The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters. Proc. Eurographics `95, Maastricht (1995) 337-348

....with high level reasoning, enables agents to exhibit a number of interesting and highly believable behavioural patterns. Apart from the systems mentioned above, a significant number of architectures involving IVEs and general virtual agents have been presented. Examples include Humanoid [3] a platform for addressing cases where modelling precision is crucial, Creatures [7] an outstanding example of the usage of IVEs in entertainment, and others. A first effort towards an intelligent agent system architecture with the ability to support IVE applications, namely the DIVA ....

Boulic, R., Capin, T., Huang, Z., Moccozet, L., Molet, T., Kalra, P., Lintermann, B., Magnenat-Thalmann, N., Pandzic, I., Saar, K.,Schmitt, A., Shen, J., Thalmann, D.: The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters. Proc. Eurographics `95, Maastricht (1995) 337-348

.... attributes like race and weight [16] Metaballs [11] have been used for modeling humans for quite some time [10] Boulic s system, like the work described in this paper, also used metaballs as modeling primitives and provided several parameters for controlling the relative proportions of the body [14]. While most of the above at minimum allow for the individual sizing of body parts (e.g. make the left forearm longer or the right thigh thicker) games such as the many Quake [25] and Unreal [21] variants typically only allow players to select from a set of models, with little support for ....

R. Boulic et al. The HUMANOID environment for interactive animation of multiple deformable human characters. In Proceedings of Eurographics `95, Maastricht, pages 337--348, August 1995.

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Boulic R., Capin T., Huang Z., Kalra P., Lintermann B., Magnenat-Thalmann N., Moccozet L., Molet T., Pandzic I., Saar K., Schmitt A., Shen J., Thalmann D., "The Humanoid Environment for Interactive Animation of Multiple Deformable Human Characters", Proceedings of Eurographics '95, 1995.

....to verify all our concepts. This architecture integrates several existing input devices, such as Spaceball, and has interfaces for future possible extensions like 3D vision systems. The virtual human creation and animation is based on the existing HUMANOID 2 ESPRIT European project software [2]. A software layer to create task oriented scripts has been developed over the HUMANOID Agent structure [3] to produce virtual actors. Finally, in an example sequence virtual humans are integrated into a real theater stage as virtual actors using the augmented reality technology. 2 Creating and ....

....realistic hand and upper body gestures for interpersonal communications. Motion Motors We used two motion motors, one for the body locomotion and the other one for the placement of the end effectors which are hands and foot in our case. The first one is a walking motor developed by Boulic[2], and the second one is a inverse kinematics motor developed by Emering[3] Current walking motor enables virtual humans to travel in the environment using instantaneous velocity of motion. One can compute walking cycle length and time from which necessary skeleton joint angles for animation can ....

Boulic R., Capin T., Huang Z., Kalra P., Lintermann B., Magnenat Thalmann N., Moccozet L., Molet T., Pandzic I., Saar K., Schmitt A., Shen J., Thalmann D., "The Humanoid Environment for Interactive Animation of Multiple Deformable Human Characters", Proceedings of Eurographics'95, 1995

....be programmed for any device. The Body Representation Engine is responsible for the deformation of the body. In any given body posture (defined by a set of joint angles) this engine will provide a deformed body ready to be rendered. The body representation is based on the Humanoid body model [Boulic 95] This engine provides the interface for changing the body posture. A standard Body Posture Driver is provided, that connects also to the navigation interface to get the navigation information, then uses the Walking Motor and the Arm Motor [Boulic 90; Pandzic 96] to generate the natural body ....

Boulic R., Capin T., Huang Z., Kalra P., Lintermann B., MagnenatThalmann N., Moccozet L., Molet T., Pandzic I., Saar K., Schmitt A., Shen J., Thalmann D., "The Humanoid Environment for Interactive Animation of Multiple Deformable Human Characters", Proceedings of Eurographics '95, 1995.

....Shoulde Elbow Spine base Pelvis Hip Knee Spine Ankle Spine base Spine L5 L3 L1 T1 T6 T1 C4 C2 Figure 11. Control of the spine using three sensors 3.4. 2 MPEG 4 Body Animation Parameters The human motion capture process is built on top of a proprietary skeleton structure [22] modeling joints using Euler angle sequence decompositions. These angles are very similar to the MPEG4 body animation parameters. In order to animate MPEG 4 HANIM hierarchies, we just translate the joint angles from our internal hierarchy to the MPEG 4 body animation parameters. These computations ....

R. Boulic, T. Capin, Z. Huang, L. Moccozet, T. Molet, P. Kalra, N. Magnenat-Thalmann, I. Pandzic, K. Saar, A. Schmitt, J.Shen and D. Thalmann, The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters, Proc. Eurographics'95, Maastricht, 1995, pp. 337-348.

....status for specific groups can also be redefined. For example, it is possible to simulate a happy crowd with one or several sad groups. In the same way, the emotion can be changed as a function of triggered events and reactions. Figures 15 and 16 show some postures and ways of walking [4][5] taken on by the crowd according to their emotion. Fig. 15: Different postures as a consequence of various emotions. Fig. 16: Different ways of walking as a result of various emotions . 3.2.2.3 Individual Beliefs As mentioned before, we consider the individual agents more simple than the ....

....by the event Bus stop (Listing 4) can be defined as follows: Reaction TAKE THE BUS ACTION KEYFRAME take bus MOTION ATTACH Object bus CHANGE EMOTION HAPPY Listing 5: Example of a script language for specifying a reaction. The reaction Take the bus is composed of a keyframe sequence [4][5] to be played, and the motion of the group must be linked to the Object bus motion. After the reaction TAKE THE BUS is applied, the agent has the emotion equal to HAPPY. 5.3 Case study using Reactive Behaviors to Simulate Behavioral Rules Simulating a party In this example, the ....

Boulic, R; Capin, T.; Huang, Z.; Kalra, P.; Lintermann, B.; Magnenat-Thalmann, N.; Moccozet, L.; Molet, T.; Pandzic, I.; Saar, K.; Schmitt, A.; Shen, J. and Thalmann, D. "The HUMANOID Environment for interactive Animation of Multiple Deformable Human Characters". Proceedings of EUROGRAPHICS'95, p.337-348 (Maastricht, The Netherlands, August 28 september, 1995).

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R. Boulic, T. Capin, Z. Huang, P. Kalra, B. Lintermann, N. Magnenat-Thalmann, L. Moccozet, T. Molet, I. Pandzic, K. Saar, A. Schmitt, J. Shen and D. Thalmann. "The HUMANOID Environment for interactive Animation of Multiple Deformable Human Characters". Proceedings of EUROGRAPHICS'95, p.337348 (Maastricht, The Netherlands, August 28 september, 1995).

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Boulic R., Capin T., Huang Z., Kalra P., Lintermann B., Magnenat-Thalmann N., Moccozet L., Molet T., Pandzic I., Saar K., Schmitt A., Shen J., Thalmann D., "The Humanoid Environment for Interactive Animation of Multiple Deformable Human Characters", Proc. Eurographics '95, 1995.

....of interaction (synchronous vs. asynchronous, allowing to work at different times in the same environment) supply mechanisms for customized tools for data visualization, protection and sharing. There has been a considerable amount of research for modelling and animation of 3D virtual humans [BCHK95] We have developed an articulated model that realistically simulates the degrees of freedom and the joint limits, and tools for animating the figures in real time. The model also contains realistic body surfaces attached as envelops to the 3D skeleton; and realtime automatic motion generators for ....

....Cross connect Figure 3: Network Topology, ATM Overlay Network In addition to the display and network parts, the simulation part should also be performed efficiently using appropriate mechanism. We make use of the HUMANOID system for modelling and real time animation of virtual actors [BCHK95]. The HUMANOID environment supports the following facilities: real time manipulation of virtual actors on a standard graphics workstation, a way of accelerating the calculations using a dedicated parallel machine or by distributing the calculation load on several workstations . a flexible ....

Boulic R., Capin T., Huang Z., Kalra P., Lintermann B., Magnenat-Thalmann N., Moccozet L., Molet T., Pandzic I., Saar K., Schmitt A., Shen J., Thalmann D., "The Humanoid Environment for Interactive Animation of Multiple Deformable Human Characters", Proc. Eurographics '95, 1995.

....independent elements. The anatomical converter derives the angle values from the sensor s information to set joints of a fixed topology hierarchy (the virtual human skeleton) The virtual skeleton is the hierarchical model comprising a total of thirty two joints corresponding to seventy four DOFs [4]. It includes a general position orientation joint (six DOFs) henceforth referred as the global joint. Therefore the DOF of each virtual joint can be restricted to match the real human joint DOF, whereas the naive technique can be compared to a controller using a skeleton made of six DOFs joints. ....

Boulic R., Capin T., Huang Z., Kalra P., Lintermann B., Magnenat-Thalmann N., Moccozet L., Molet T., Pandzic I., Saar K., Schmitt A., Shen J., Thalmann D., The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters, Proc. Eurographics 95, Computer Graphics Forum 14(3), pp 337-348, Maastricht, August 1995.

....36 video objects can blend with the environment. Images are treated in the same manner as video. 6.3 Virtual Humans In its initial extension, SNHC concentrates on facial body animation. This leads to a complete, integrated representation of the human body: the Virtual Humans [28] [29]. Within Networked Collaborative Virtual Environments, the Virtual Humans have several important functions: perception (to see if anyone is around) localization (to see where the person is) identification (to recognize the person) visualization of interest focus (to see where the ....

Boulic R., Capin T., Huang Z., Kalra P., Lintermann B., Magnenat-Thalmann N., Moccozet L., Molet T., Pandzic I., Saar K., Schmitt A., Shen J., Thalmann D., "The Humanoid Environment for Interactive Animation of Multiple Deformable Human Characters", Proceedings of Eurographics '95, 1995.

....be played on an Indigo 2 Extreme or on an Onyx without problems in real time. We produced several raytraced videos with rendered soundtracks. As raytracer we used Rayshade from Craig E. Kolb. Figure 13 shows 4 images from one of the videos where the referee is represented by a synthetic humanoid [BCH95]. The blue and the green racket like actors, and the rest of the environment are modeled by L systems. 6 Conclusion We presented a synthetic sensor based tennis match simulation for autonomous players and an autonomous referee, implemented in a L system based animation system. The different ....

Boulic R., Capin T., Huang Z., Kalra P., Lintermann B., Magnenat-Thalmann N., Moccozet L., Molet T., Pandzic I., Saar K., Schmitt A., Shen J., Thalmann D., "The Humanoid Environment for Interactive Animation of Multiple Deformable Human Characters", Proc. Eurographics '95, 1995, pp 337 - 348.

....of complexity. An actor may simply evolve in his environment or he may interact with this environment or even communicate with other actors. We will emphasize three types of actions: navigation and locomotion, grasping and ball games. Actions are performed using a common architecture for motion [40]. The motion control part includes 5 generators: keyframing, inverse kinematics, dynamics, walking and grasping and high level tools to combine and blend them. The action module [41] manages the execution of the different actions used by a behavior by animating a generic human model based on a ....

....control part includes 5 generators: keyframing, inverse kinematics, dynamics, walking and grasping and high level tools to combine and blend them. The action module [41] manages the execution of the different actions used by a behavior by animating a generic human model based on a node hierarchy [40]. It allows the concurrent or sequential execution of actions by managing smooth transitions between terminating and initiating actions. The animation is driven by a behavioral loop. The role of the behavioral loop is to update the state of the virtual world corresponding to the new time. At each ....

Boulic R., Capin T., Kalra P., Lintermann B., Moccozet L., Molet T., Huang Z., MagnenatThalmann N., Saar K., Schmitt A., Shen J. and Thalmann D. The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters. Proceedings of EUROGRAPHICS 95, p. 337-348 (Maastricht, The Netherlands, August 28-September 1, 1995).

....control the social behavior of actors using nonverbal communication. We explain how they evaluate and select postures according to their character and how their relationships evolve. In section 5, we describe how the public garden and the actors are modeled with the libraries SCENElib and BODYlib [4] dedicated to the creation of scenes of 3D objects and human actors and how actors are animated with the library AGENTlib. The purpose of this library is the management of agents able to coordinate perception and action and the scheduling of execution of concurrent or sequential actions. Finally, ....

....dedicated to the creation of scenes of 3D objects and the creation of human actors. Actors are animated with the library AGENTlib dedicated to the coordination of perception and action and the combination of motion generators. The libraries SCENElib and BODYlib are part of the HUMANOID environment [4]. This environment supports several facilities including the management of multiple humanoid entities and the skin deformation of a human body. The library AGENTlib defines agent entities responsible of the integration of a fixed set of perception senses and a dynamic set of actions. For this ....

R. Boulic, T. Capin, Z. Huang, P. Kalra, B. Lintermann, N. Magnenat-Thalmann, L.Moccozet, T. Molet, I. Pandzic, K. Saar, A. Schmitt, J. Shen and D. Thalmann. The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters. Proceedings of EUROGRAPHICS 95, p. 337-348 (Maastricht, The Netherlands, August 28-September 1, 1995).

....to solution adopted by CVEs platforms) This is mainly true for user representation (avatar) which have to be sent to all other participants each time a new user joins the ongoing session but also for notion of private crowd imported inside the shared 3D world by a participant. For our bodies [2], we are able to define five different lods which can be easily included in avatar definition files. But, we have experienced that it is not useful to do so. Indeed, the only point in including all lods is to obtain a smooth transition from one lod to the other. But as long as switching between ....

....Body animation can generate a high data flow that is likely to overload the network. Applying the notion of level of details and data compression on animation is a good way to minimise network jams 4.3. 1 Data Compression at CVEs level With our bodies, we dispose of a set of seventy five joints [2]. In order to achieve credible and natural movements, the different parts of a virtual human body have to be animated constantly, and each transformation will typically generate a network message, i.e. numerous small network messages that are sent very frequently. Animating crowds of virtual ....

[Article contains additional citation context not shown here]

Boulic, R; Capin, T.; Huang, Z.; Kalra, P.; Lintermann, B.; Magnenat-Thalmann, N.; Moccozet, L.; Molet, T.; Pandzic, I.; Saar, K.; Schmitt, A.; Shen, J. and Thalmann, D. "The HUMANOID Environment for interactive Animation of Multiple Deformable Human Characters". Proceedings of EUROGRAPHICS'95, p.337-348 (Maastricht, The Netherlands, August 28 september, 1995).

....solution where all steps are performed within the same application. In the latter solution, the lag varies between 0.3s and 0.7s depending on the rendered scene complexity. 2.4. 2 MPEG 4 Body Animation Parameters The human motion capture process is built on top of a proprietary skeleton structure [12] modelling joints using Euler angle sequence decompositions. These angles are very similar to the MPEG4 BAP. In order to animate MPEG4 HANIM hierarchies, the joint angles are translated from our internal hierarchy to the MPEG4 BAP. These computations basically consist of finding the MPEG4 ....

R. Boulic, T. Capin, Z. Huang, L. Moccozet, T. Molet, P. Kalra, N. MagnenatThalmann, I. Pandzic, K. Saar, A. Schmitt, J.Shen and D. Thalmann, "The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters", Proc. Eurographics'95, Maastricht, 1995, pp. 337-348.

....of an invisible skeleton and a skin. The underlying skeleton is a hierarchy of joints corresponding to the actual human major joints. Each joint has a set of degrees of freedom, rotation and or translation, which are constrained to authorized values, based on real human mobility capabilities [19]. Unlike other attempts [9] we have not modeled a multi resolution skeleton, as our aim was not to demonstrate the effectiveness of animation level of detail. Hand joints can be replaced with a single joint though. The skin of our virtual human is generated by means of an in house modeler that ....

R. Boulic, T. Capin, Z. Huang, P. Kalra., B. Lintermann., N. Magnenat-Thalmann, L. Moccozet, T. Molet, I. Pandzic, K. Saar, A. Schmitt, J. Shen, D. Thalmann, "The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters", Proc. Eurographics'95, Maastricht, 1995, pp. 337-348.

....its performance. 1. Introduction Until recently virtual humans have been populating homogenous virtual environments. A wealth of research deals with different aspects of human modeling: Design and Rendering of the 3D model, motion generation, behavioral animation and autonomous virtual humans [3,7]. Virtual Reality systems provide a coherent virtual environment for interactions. Virtual humans can be either autonomous or guided (avatars) Augmented Reality (AR) can be viewed as a combination of distinct technologies spanning from virtual reality to computer vision [6] AR enhances the ....

R. Boulic, T. Capin, Z. Huang, L. Moccozet, T. Molet, P. Kalra, B. Lintermann, N. Magnenat-Thalmann, I. Pandzic, K. Saar, A. Schmitt, J. Shen, D. Thalmann, The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters, Proc. Eurographics 95, Maastricht, August 1995, pp.337-348

....which means that it is useful to be able to have realistic virtual humanoids. The VRML Humanoid Animation working group (HANIM) 16] defined a generic way to describe realistic virtual humanoids in VRML. This proposal is partly based on a body hierarchy defined at the Computer Graphics Laboratory [17], which is briefly presented in section 3, and on Jack body [18] Once a body is available as a hierarchy in VRML format, it is possible to animate it, still by using VRML capabilities. We present our work on body control and animation in VRML worlds in section 4. Finally, we highlight the ....

....of 68 (62 6 for global position) degrees of freedom (plus 30 degrees of freedom for each hands when included) Fig. 3) It is defined as a specialised version of a more generic scene graph management library which allows to define any kind of skeleton (virtual humans as well as virtual animals) [17]. This hierarchy was first exported to VRML in order to retrieve the same hierarchy with the same 5 movement capabilities inside VRML worlds. A body definition is based on a template that permits to obtain different kinds of body with different physical characteristics (size, weight. As a so ....

- R. Boulic, T. Capin, Z. Huang, L. Moccozet, T. Molet, P.Kalra, B. Lintermann, N. Magnenat-Thalmann, I. Pandzic, K. Saar, A. Schmitt, J. Shen, D. Thalmann, "The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters", Proc. Eurographics `95, Maastricht, August 1995, pp. 337-348.

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R. Boulic et al., "The Humanoid Environment for Interactive Animation of Multiple Deformable Human Characters, " Proc. Eurographics 95, Blackwell Publishers, England, Aug. 1995, pp. 337-348.

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