Alla Safonova

Learn More
Optimization is an appealing way to compute the motion of an animated character because it allows the user to specify the desired motion in a sparse, intuitive way. The difficulty of solving this problem for complex characters such as humans is due in part to the high dimensionality of the search space. The dimensionality is an artifact of the problem(More)
Much of the motion capture data used in animations, commercials, and video games is carefully segmented into distinct motions either at the time of capture or by hand after the capture session. As we move toward collecting more and longer motion sequences, however, automatic segmentation techniques will become important for processing the results in a(More)
Many compelling applications would become feasible if novice users had the ability to synthesize high quality human motion based only on a simple sketch and a few easily specified constraints. We approach this problem by representing the desired motion as an interpolation of two time-scaled paths through a motion graph. The graph is constructed to support(More)
Two human motions can be linearly interpolated to produce a new motion, giving the animator control over the length of a jump, the speed of walking, or the height of a kick. Over the past ten years, this simple technique has been shown to produce surprisingly natural looking results. In this paper we analyze the motions produced by this technique for(More)
* This material is based upon work supported by the National Science Foundation under Grant 9721358. Abstract Edgebreaker is a simple technique for compressing 3D triangle meshes. We introduce here a new formulation, which leads to a simple implementation. We describe it in terms of a data structure, the Corner Table, which represents the connectivity of(More)
Path planning quickly becomes computationally hard as the dimensionality of the state-space increases. In this paper, we present a planning algorithm intended to speed up path planning for high-dimensional state-spaces such as robotic arms. The idea behind this work is that while planning in a highdimensional state-space is often necessary to ensure the(More)
Using pre-recorded human motion and trajectory tracking, we can control the motion of a humanoid robot for freespace, upper body gestures. However, the number of degrees of freedom, range of joint motion, and achievable joint velocities of today’s humanoid robots are far more limited than those of the average human subject. In this paper, we explore a set(More)
The Edgebreaker is an efficient scheme for compressing triangulated surfaces. A surprisingly simple implementation of Edgebreaker has been proposed for surfaces homeomorphic to a sphere. It uses the Corner-Table data structure, which represents the connectivity of a triangulated surface by two tables of integers, and encodes them with less than 2 bits per(More)
We propose a compact approximation scheme for 3D curves. Consider a polygonal curve P, whose n vertices have been generated through adaptive (and nearly minimal) sampling, so that P approximates some original 3D curve, O, within tolerance 0. We present a practical and efficient algorithm for computing a continuous 3D curve C that approximates P within(More)
A triangulated surface S with V vertices is sometimes stored as a list of T independen floating-point coordinates of its vertices. This representation requires about 576 information regarding the adjacency between neighboring triangles or vertices. A va structures may be derived from such a representation in order to make explicit the relations between(More)