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1. 发明申请

US20090153551A1 METHOD AND APPARATUS FOR TRANSFERRING POSE OF 3-DIMENSIONAL CHARACTERS 审中-公开
标题翻译：用于传输三维特征位置的方法和装置
公开(公告)号：US20090153551A1
公开(公告)日：2009-06-18
申请号：US12253648
申请日：2008-10-17
申请人： Ki-young PARK , Il-Kwon JEONG , Byoung Tae CHOI
发明人： Ki-young PARK , Il-Kwon JEONG , Byoung Tae CHOI
IPC分类号： G06T15/00
CPC分类号： G06T19/20 , G06T2219/2021
摘要： A method for transferring a pose from an original digital character to a newly-created digital character, includes: deriving constraints from a pose of the original character; modeling pose characteristics of each joint of the newly-created character as a probability distribution function having an input variable of a rotation angle of corresponding joint; and modeling pose characteristics of all joints of the newly-created character as a joint probability distribution function having input variables of rotation angles of corresponding joints. The method further includes extracting, based on the joint probability distribution function, the rotation angles of all joints of the newly-created character to thereby create a pose of the newly-created character, the rotation angles satisfying the constraints.
摘要翻译：一种用于将姿势从原始数字字符传送到新创建的数字字符的方法包括：从原始字符的姿态导出约束; 将新创建的角色的每个关节的建模姿态特征作为具有对应关节的旋转角度的输入变量的概率分布函数; 以及将新创建的角色的所有关节的姿态特征建模为具有相应关节的旋转角度的输入变量的联合概率分布函数。该方法还包括基于联合概率分布函数提取新创建的角色的所有关节的旋转角度，从而创建新创建的角色，旋转角度满足约束条件。

2. 发明申请

US20110128292A1 DYNAMICS-BASED MOTION GENERATION APPARATUS AND METHOD 审中-公开
标题翻译：基于动态的运动发生装置和方法
公开(公告)号：US20110128292A1
公开(公告)日：2011-06-02
申请号：US12786009
申请日：2010-05-24
申请人： Sang Won GHYME , Myunggyu KIM , Sung June CHANG , Man Kyu SUNG , Il-Kwon JEONG , Byoung Tae CHOI
发明人： Sang Won GHYME , Myunggyu KIM , Sung June CHANG , Man Kyu SUNG , Il-Kwon JEONG , Byoung Tae CHOI
IPC分类号： G06T13/00
CPC分类号： G06T13/40
摘要： A dynamics-based motion generation apparatus includes: a dynamics model conversion unit for automatically converting character model data into dynamics model data of a character to be subjected to a dynamics simulation; a dynamics model control unit for modifying the dynamics model data and adding or modifying an environment model; a dynamics motion conversion unit for automatically converting reference motion data of the character, which has been created by using the character model data, into dynamics motion data through the dynamics simulation by referring to the dynamics model data and the environment model; and a motion editing unit for editing the reference motion data to decrease a gap between reference motion data and dynamics motion data. The apparatus further includes a robot motion control unit for controlling a robot by inputting preset torque values to related joint motors of the robot by referring to the dynamics motion data.
摘要翻译：基于动态的运动生成装置包括：动态模型转换单元，用于将角色模型数据自动转换为要进行动态模拟的角色的动态模型数据; 用于修改动态模型数据并添加或修改环境模型的动力学模型控制单元; 动态运动转换单元，用于通过参考动力学模型数据和环境模型，通过动力学模拟来自动地将通过使用角色模型数据创建的角色的参考运动数据转换成动态运动数据; 以及运动编辑单元，用于编辑参考运动数据以减小参考运动数据与动态运动数据之间的间隙。该装置还包括机器人运动控制单元，用于通过参考动态运动数据，通过向机器人的相关联动马达输入预设的扭矩值来控制机器人。

3. 发明申请

US20110142354A1 APPARATUS AND METHOD FOR DETECTING POSE IN MOTION CAPTURE DATA 审中-公开
标题翻译：用于检测运动捕获数据位置的装置和方法
公开(公告)号：US20110142354A1
公开(公告)日：2011-06-16
申请号：US12787098
申请日：2010-05-25
申请人： Man Kyu SUNG , Myunggyu KIM , Sang Won GHYME , Sung June CHANG , Il-Kwon JEONG , Byoung Tae CHOI
发明人： Man Kyu SUNG , Myunggyu KIM , Sang Won GHYME , Sung June CHANG , Il-Kwon JEONG , Byoung Tae CHOI
IPC分类号： G06K9/62
CPC分类号： G06T7/73 , G06T2207/10016
摘要： An apparatus for detecting a pose in motion capture data includes: a motion data input unit which receives motion data of characters; a virtual marker attaching unit for forming a point cloud by attaching virtual markers to joints of an end-effector of each character; and a scaling unit for, when a frame has different character size from an a character size of an original frame to be compared is detected, scaling the character size. The apparatus further includes an ICP algorithm execution unit for finding a matching transformation matrix between the original frame and each frame of the motion data, of which character size has been scaled, by applying an ICP algorithm, and determining a frame, in which character's pose has the smallest difference from that in the original frame based on a sum of the distances between the virtual markers chosen by sampling the matched two poses.
摘要翻译：一种用于检测运动捕获数据中姿势的装置，包括：运动数据输入单元，其接收人物的运动数据; 虚拟标记附着单元，用于通过将虚拟标记附接到每个角色的末端执行器的关节来形成点云; 以及缩放单元，用于当检测到具有与要比较的原始帧的字符大小不同的字符尺寸时，缩放字符尺寸。该装置还包括ICP算法执行单元，用于通过应用ICP算法来找出原始帧与运动数据的每个帧之间的匹配变换矩阵，其中字符大小已被缩放，并且确定一个帧，其中字符的姿态基于通过对匹配的两个姿态进行采样而选择的虚拟标记之间的距离的总和，与原始帧中的差异具有最小差异。

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