Test Sequences for Evaluation Purposes

Test Sequence 1

Original Videos

Right camera
Left camera

Annotated Points:

Additional Results:

Intrinsic1L
Intrinsic1R
Extrinsic1L
Extrinsic1R

Humodan Results:

Right camera
Left camera

Test Sequence 2

 Original Videos:

Right camera
Left camera

Annotated Points:

Additional Results:

Intrinsic2L
Intrinsic2R
Extrinsic2L
Extrinsic2R

Humodan Results:

Right camera
Left camera

 

Result and Performance Evaluation of SMT

Required Software:

    COMPAMM

To run COMPAMM at least DirectX 8.1 must be installed in the system. To view the animation, download the linked ZIP files, uncompress it on a folder and load the .pb file in COMPAMM. To control the animation speed modify the value of the Frame Rate field in the dialog of Simulation/Control menu. To center the rotation point in one body the user can select the button and pick on the new center.

Test Description:

A series of full body motion sequences obtained from different sources ([3] and [4]) have been used to parse the positions of the features that would obtain the Capture System and then reconstruct the postures of the humanoid for each frame. Then these reconstructions are compared with the original sequences to get their reliability. Also the computation times are measured in a computer with a Pentium4 3GHz HT processor and RAM memory of 2GB RAM DDR400 Dual Channel to get the efficiency of the software in Real Time applications.

Two cases are reconstructed for each animation:

PIK1: The information provided to the SMT are the global positions of l_wrist, r_wrist, skullbase, l_ankle and r_ankle, the longitudinal unitary axis of the trunk from down to up (y local axis of the system attached to HumanoidRoot) and the unitary axis that unites the shoulders from right to left (x local axis of the system attached to HumanoidRoot). Each frame of this sequence is the first possible solution that is given to the Capture System. From this posture it is possible to generate other postures that also match the detections. The matching function would choose the most suitable posture for the recorded images.

PIK2: Apart from the information provided in PIK1 also the positions of l_elbow, r_elbow, l_knee and r_knee are included. This is a simulation of choosing the most suitable posture that would perform the matching function.

In the snapshots the humanoids’ colours will be the following:

Original humanoid:

  • HumanoidRoot: blue
  • Rest of the joints: red
  • Segments: gray

PIK1 humanoid:

  • HumanoidRoot: blue
  • Rest of the joints: green
  • Segments: black

PIK2 humanoid:

  • HumanoidRoot: green
  • Rest of the joints: blue
  • Segments: yellow

Realman (IST-2000-29357) Animation


Download Animation Here
Download VRML97

Waving Animation


Download Animation Here
Download VRML97

Shooting an arrow animation


Download Animation Here
Download VRML97

Jogging Animation


Download Animation Here
Download VRML97

Martial art kick animation


Download Animation Here
Download VRML97

Sneaking Animation


Download Animation Here
Download VRML97

Dancing


Download Animation Here
Download VRML97

References

[1] J. M., Jimenez, A., Avello, A., Garcia-Alonso, J., García de Jalón, "COMPAMM: A simple and Efficient Code for Kinematic and Dynamic Simulation of 3D Systems with Realistic Graphics". Multibody Systems Handbook, ed. W. Schiehlen. Springer-Verlag. 285-304 (1990).

[2] Matlab, The Language of Technical Computing, The MathWorks, Inc.

[3] REALMAN Project (IST-2000-29357): www.real-man.org

[4] Cal3d Character Animation Library: cal3d.sourceforge.net