Character navigation in dynamic environments based on optical flow

Steering and navigation are important components of character animation systems to enable them to autonomously move in their environment. In this work, we propose a synthetic vision model that uses visual features to steer agents through dynamic environments. Our agents perceive optical flow resulti...

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Published in:	Computer graphics forum Vol. 38; no. 2; pp. 181 - 192
Main Authors:	López, Axel, Chaumette, François, Marchand, Eric, Pettré, Julien
Format:	Journal Article
Language:	English
Published:	Oxford Blackwell Publishing Ltd 01.05.2019 Wiley
Subjects:	Animation CCS Concepts Computer Science Computer simulation Computing methodologies → Modeling and simulation Enhanced vision Feature extraction Graphics Model development and analysis Model verification and validation Navigation Object motion Optical flow (image analysis) Robotics Software reviews Steering Task complexity Visual perception Animation Modeling and simulation Model verification and valida-tion Model development and analysis
ISSN:	0167-7055, 1467-8659
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Abstract	Steering and navigation are important components of character animation systems to enable them to autonomously move in their environment. In this work, we propose a synthetic vision model that uses visual features to steer agents through dynamic environments. Our agents perceive optical flow resulting from their relative motion with the objects of the environment. The optical flow is then segmented and processed to extract visual features such as the focus of expansion and time‐to‐collision. Then, we establish the relations between these visual features and the agent motion, and use them to design a set of control functions which allow characters to perform object‐dependent tasks, such as following, avoiding and reaching. Control functions are then combined to let characters perform more complex navigation tasks in dynamic environments, such as reaching a goal while avoiding multiple obstacles. Agent's motion is achieved by local minimization of these functions. We demonstrate the efficiency of our approach through a number of scenarios. Our work sets the basis for building a character animation system which imitates human sensorimotor actions. It opens new perspectives to achieve realistic simulation of human characters taking into account perceptual factors, such as the lighting conditions of the environment.
AbstractList	Steering and navigation are important components of character animation systems to enable them to autonomously move in their environment. In this work, we propose a synthetic vision model that uses visual features to steer agents through dynamic environments. Our agents perceive optical flow resulting from their relative motion with the objects of the environment. The optical flow is then segmented and processed to extract visual features such as the focus of expansion and time‐to‐collision. Then, we establish the relations between these visual features and the agent motion, and use them to design a set of control functions which allow characters to perform object‐dependent tasks, such as following, avoiding and reaching. Control functions are then combined to let characters perform more complex navigation tasks in dynamic environments, such as reaching a goal while avoiding multiple obstacles. Agent's motion is achieved by local minimization of these functions. We demonstrate the efficiency of our approach through a number of scenarios. Our work sets the basis for building a character animation system which imitates human sensorimotor actions. It opens new perspectives to achieve realistic simulation of human characters taking into account perceptual factors, such as the lighting conditions of the environment.
Author	López, Axel Pettré, Julien Marchand, Eric Chaumette, François
Author_xml	– sequence: 1 givenname: Axel orcidid: 0000-0002-6590-0689 surname: López fullname: López, Axel email: axel.lopez-gandia@irisa.fr – sequence: 2 givenname: François orcidid: 0000-0002-1238-4385 surname: Chaumette fullname: Chaumette, François email: francois.chaumette@inria.fr – sequence: 3 givenname: Eric orcidid: 0000-0001-7096-5236 surname: Marchand fullname: Marchand, Eric email: eric.marchand@irisa.fr – sequence: 4 givenname: Julien orcidid: 0000-0003-1812-1436 surname: Pettré fullname: Pettré, Julien email: julien.pettre@inria.fr
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Copyright	2019 The Author(s) Computer Graphics Forum © 2019 The Eurographics Association and John Wiley & Sons Ltd. Published by John Wiley & Sons Ltd. 2019 The Eurographics Association and John Wiley & Sons Ltd. Distributed under a Creative Commons Attribution 4.0 International License
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Snippet	Steering and navigation are important components of character animation systems to enable them to autonomously move in their environment. In this work, we...
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SubjectTerms	Animation CCS Concepts Computer Science Computer simulation Computing methodologies → Modeling and simulation Enhanced vision Feature extraction Graphics Model development and analysis Model verification and validation Navigation Object motion Optical flow (image analysis) Robotics Software reviews Steering Task complexity Visual perception
Title	Character navigation in dynamic environments based on optical flow
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