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題名 虛擬環境中智慧型化身之控制
作者 許書瑋
Shu-Wei Hsu
貢獻者 李蔡彥
Tsai-Yen Li
許書瑋
Shu-Wei Hsu
關鍵詞 智慧型3D介面
運動計畫
人體動畫
Intelligent 3D interface
motion planning
Humanoid Animation
日期 2004
上傳時間 17-Sep-2009 14:07:29 (UTC+8)
摘要 在3D虛擬環境中，使用者透過對化身的控制進行場景瀏覽等各種活動。所謂智慧型化身之控制，是指在化身控制系統中，融入一些人工智慧的方法，協助使用者更有效率的控制化身的運動。本論文對此議題的研究範疇包含兩部分：改進第一人稱控制化身的智慧型介面及將智慧型控制的概念延伸到第三人稱的控制方式上。在以第一人稱控制化身的部分，我們在一個具備虛擬力場輔助的控制系統上，加入適性化的機制，以產生能適應使用者操控習慣的虛擬力場。另外，在一個使用街圖運動計畫法輔助控制的智慧型介面上，我們以虛擬鏈結的觀念改善該方法可能造成使用者繞路的不自然現象。在第三人稱的化身控制上，我們以「組態-時間」街圖的新觀念設計運動計畫演算法，並加上讓運動計畫與控制播放兩個程序協調並行的機制，使系統能在符合即時性的效能下，自動為化身搭配能夠適時閃避障礙物的上半身肢體運動。我們相信此類智慧型控制介面，可增加化身在虛擬環境中控制的便利性，並提高化身在動作呈現上的擬真度。
In a 3D virtual environment, a user takes part in various activities such as walk-through a scene by controlling the avatar representing the user. Intelligent avatar control means a control mechanism using AI techniques to improve user naviga-tion efficiency. This thesis reports research on two aspects of intelligent avatar control: we attempt to improve the efficiency of the first-person intelligent ava-tar control interfaces and extend the intelligent interface concept to a third-person control mechanism. First, we improve a force-field based intelligent interface by adopting an adaptive mechanism that can generate a tailored force field according to user control behavior. In addition, in a motion-planning based assisting mechanism, we have introduced the concept of virtual link to improve the quality of the generated avatar path. Second, we use the concept of C-T space roadmap to design a new motion planning algorithm to generate collision-free motion for a third-person-controlled avatar. We have designed a mechanism to allow motion generation and execution to happen in parallel and collision-free motions for the upper body of the avatar can be generated in real time. We be-lieve that this type of intelligent control interface can enhance the efficiency of avatar interface control and improve the realism of the generated avatar motions.
參考文獻 [1] G. Arechavaleta, C. Esteves and J.P. Laumond, “Planning fine motions for a digi-tal factotum,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’04), p.822-827, 2004.
[2] R. Bohlin and L.E. Kavraki, “Path Planning Using Lazy PRM,” in Proc. of IEEE Int. Conf. on Robotics & Automation, p.521-528, 2000.
[3] M. Brand and A. Hertzmann, “Style Machines,” in Proc. of the 27th Conference on Computer Graphics and Interactive Techniques, p.183-192, 2000
[4] A. Celentano, M. Nodari and F. Pittarello, “Adaptive Interaction in Web3D Virtual Worlds,” in Proc. of the 9th Conference on Web3D Technology, p.41-50, 2004
[5] M. Chen, S.J. Mountford and A. Sellen, “A Study in Interactive 3D Rotation Using 2D Control Devices,” in ACM SIGGRAPH Computer Graphics, Vol.22, No.4, p.121-129, 1988
[6] P.K. Egbert and S.H. Winkler, “Collision-Free Object Movement Using Vector-Fields,” in IEEE Computer Graphics and Applications, Vol.16, No.4, p.18-24, 1996.
[7] M. Erdmann and T. Lozano-Perez, “On Multiple Moving Objects,” in Algorithmica, Vol.2, No.4, p.477-521, 1987.
[8] H-Anim specification：http://www.h-anim.org/
[9] A.J. Hanson and E. Wernert, “Constrained 3D Navigation with 2D Controllers. in Proc. of Visualization ’97, p.175-182, 1997.
[10] M. Kallmann, A. Aubel, T. Abaci and D. Thalmann, "Planning Collision-Free Reaching Motions for Interactive Object Manipulation and Grasping," in Computer Graphic Forum, Vol.22, p. 313-322, 2003.
[11] L. Kavraki, P. Svestka, J.C. Latombe and M. H. Overmars, “Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Space,” in IEEE Trans. on Robotics and Automation, Vol.12, No.4, p.566-580, 1996.
[12] Y. Koga, K. Kondo, J.J. Kuffner and J.C. Latombe, "Planning Motions with Inten-tions," in SIGGRAPH `94: Proc. of the 21st Annual Conference on Computer Graphics and Interactive Techniques, p.395-408, 1994.
[13] J.J. Kuffner, "Goal-Directed Navigation for Animated Characters Using Real-Time Path Planning and Control," in CAPTECH `98: Proc. of the International Workshop on Modelling and Motion Capture Techniques for Virtual Environments, p.171-186, 1998.
[14] J.J. Kuffner and S.M. LaValle, “RRT-Connect: An Efficient Approach to Sin-gle-Query Path Planning,” in Proc. IEEE International Conf. on Robotics and Auto-mation, p.995-1001, 2000.
[15] J. Latombe, Robot Motion Planning, Kluwer Academic Publishers, 1991.
[16] S.M. LaValle, “Rapidly-Exploring Random Trees: A New Tool for Path Planning,” Technical Report, Computer Science Dept., Iowa State University, 1998.
[17] B. Lenzmann and I. Wachsmuth, “A User Adaptive Interface Agency for Interaction with a Virtual Environment,” in Working Notes of the IJCAI-95 Workshop on Adap-tation and Learning in Multi-agent Systems, p.43-46, 1995.
[18] T.Y. Li, P.F. Chen and P.Z. Huang, "Motion Planning for Humanoid Walking in a Layered Environment." in Proc. of the IEEE Int. Conf. on Robotics and Automation, p.3421-3427, 2003.
[19] T.Y. Li and H.C. Chou, "Improving Navigation Efficiency with Artificial Force Field," in Proc. of IPPR Conference on Computer Vision, Graphics, and Image Processing, 2001.
[20] T.Y. Li, Y.J Jeng and S.I Chang, “Simulating Virtual Human Crowds with a Leader-Follower Model,” in Proc. of the Computer Animation Conference, 2001.
[21] T.Y. Li, J.M. Lien, S.Y. Chiu and T.H. Yu, “Automatically Generating Virtual Guided Tours,” in Proc. of the Computer Animation Conference, p.99-106, 1999.
[22] T.Y. Li and Y.C. Shie, "An Incremental Learning Approach to Motion Planning with Roadmap Management," in Proc. of the IEEE Int. Conf. on Robotics and Automa-tion, p.3411-3416, 2002.
[23] T.Y. Li and H.K. Ting, “An Intelligent User Interface with Motion Planning for 3D Navigation,” in Proc. of the IEEE Virtual Reality Conference, p.177-184, 2000.
[24] B. Mirtich, “V-Clip: Fast and Robust Polyhedral Collision Detection,” ACM Trans-actions on Graphics, Vol.17 No.3, p.177-208, 1998.
[25] G.M. Neilson and D.R. Olsen, “Direct Manipulation Techniques for 3D Objects Using 2D Locator Devices,” in Proc. of the Workshop on Interactive 3D Graphics, p.175-182, 1986.
[26] M.H. Overmars and P. Svestka, “A probabilistic Learning Approach to Motion Plan-ning,” in Proc. of the Workshop on Algorithmic Foundations of Robotics, p.19-37, 1995.
[27] J. Pettre, J.P. Laumond and T. Simeon, “A 2-Stages Locomotion Planner for Digital Actors,” in Proc. of the 2003 ACM SIGGRAPH/Eurographics Symposium on Com-puter Animation, p.258-264, 2003.
[28] C. Rose, M.F. Cohen and B. Bodenheimer, “Verbs and Adverbs: Multidimensional Motion Interpolation,” IEEE Computer Graphics and Applications, Vol.18, No.5, p.32-40, 1998.
[29] B. Salomon, M. Garber, M.C. Lin and D. Manocha, “Interactive Navigation in Complex Environments Using Path Planning,” in Proc. of the Symposium on Inter-active 3D Graphics, p.41-50, 2003.
[30] Y.C. Shie, Roadmap Management for Incremental Motion Planning, Master’s The-sis, National Chengchi University, Taiwan, 2002.
[31] V-Clip Java port：http://www.cs.ubc.ca/~lloyd/java/vclip.html
[32] E.A. Wernert and A.J. Hanson, “A Framework for Assisted Exploration with Collaboration,” in Proc. of the Conference on Visualization `99, p.241-248, 1999.
[33] A. Witkin and Z. Popovic, “Motion Warping,” in Proc. of the 22nd Annual Confer-ence on Computer Graphics and Interactive Techniques, p.105-108, 1995.
[34] D. Xiao and R. Hubbold, “Navigation Guided by Artificial Force Fields,” in Proc. of the SIGCHI Conference on Human Factors in Computing Systems, p.179-186, 1998.
[35] Xj3D, java based x3d/vrml browser：http://www.web3d.org/x3d/applications/xj3d/
描述 碩士
國立政治大學
資訊科學學系
92753004
93
資料來源 http://thesis.lib.nccu.edu.tw/record/#G0927530041
資料類型 thesis
dc.contributor.advisor 李蔡彥zh_TW
dc.contributor.advisor Tsai-Yen Lien_US
dc.contributor.author (Authors) 許書瑋zh_TW
dc.contributor.author (Authors) Shu-Wei Hsuen_US
dc.creator (作者) 許書瑋zh_TW
dc.creator (作者) Shu-Wei Hsuen_US
dc.date (日期) 2004en_US
dc.date.accessioned 17-Sep-2009 14:07:29 (UTC+8)-
dc.date.available 17-Sep-2009 14:07:29 (UTC+8)-
dc.date.issued (上傳時間) 17-Sep-2009 14:07:29 (UTC+8)-
dc.identifier (Other Identifiers) G0927530041en_US
dc.identifier.uri (URI) https://nccur.lib.nccu.edu.tw/handle/140.119/32717-
dc.description (描述) 碩士zh_TW
dc.description (描述) 國立政治大學zh_TW
dc.description (描述) 資訊科學學系zh_TW
dc.description (描述) 92753004zh_TW
dc.description (描述) 93zh_TW
dc.description.abstract (摘要) 在3D虛擬環境中，使用者透過對化身的控制進行場景瀏覽等各種活動。所謂智慧型化身之控制，是指在化身控制系統中，融入一些人工智慧的方法，協助使用者更有效率的控制化身的運動。本論文對此議題的研究範疇包含兩部分：改進第一人稱控制化身的智慧型介面及將智慧型控制的概念延伸到第三人稱的控制方式上。在以第一人稱控制化身的部分，我們在一個具備虛擬力場輔助的控制系統上，加入適性化的機制，以產生能適應使用者操控習慣的虛擬力場。另外，在一個使用街圖運動計畫法輔助控制的智慧型介面上，我們以虛擬鏈結的觀念改善該方法可能造成使用者繞路的不自然現象。在第三人稱的化身控制上，我們以「組態-時間」街圖的新觀念設計運動計畫演算法，並加上讓運動計畫與控制播放兩個程序協調並行的機制，使系統能在符合即時性的效能下，自動為化身搭配能夠適時閃避障礙物的上半身肢體運動。我們相信此類智慧型控制介面，可增加化身在虛擬環境中控制的便利性，並提高化身在動作呈現上的擬真度。zh_TW
dc.description.abstract (摘要) In a 3D virtual environment, a user takes part in various activities such as walk-through a scene by controlling the avatar representing the user. Intelligent avatar control means a control mechanism using AI techniques to improve user naviga-tion efficiency. This thesis reports research on two aspects of intelligent avatar control: we attempt to improve the efficiency of the first-person intelligent ava-tar control interfaces and extend the intelligent interface concept to a third-person control mechanism. First, we improve a force-field based intelligent interface by adopting an adaptive mechanism that can generate a tailored force field according to user control behavior. In addition, in a motion-planning based assisting mechanism, we have introduced the concept of virtual link to improve the quality of the generated avatar path. Second, we use the concept of C-T space roadmap to design a new motion planning algorithm to generate collision-free motion for a third-person-controlled avatar. We have designed a mechanism to allow motion generation and execution to happen in parallel and collision-free motions for the upper body of the avatar can be generated in real time. We be-lieve that this type of intelligent control interface can enhance the efficiency of avatar interface control and improve the realism of the generated avatar motions.en_US
dc.description.tableofcontents 第一章 導論 1
1.1 簡介 1
1.2 研究動機與目的 3
1.3 論文貢獻 5
1.4 論文章節架構 6
第二章 相關研究 7
2.1 虛擬環境中智慧型3D操控介面 7
2.2 運動計畫演算法 8
2.3 人體動畫 10
第三章 適性化虛擬力場輔助之操控介面 13
3.1 虛擬力場的建立 13
3.2 力場的調整 16
3.3 問題描述 17
3.5 使用模擬實驗找出最佳力場參數組態 19
3.5.1 瀏覽過程之取樣 19
3.5.2 模擬實驗 19
3.5.3 使用傾向分析對修正模擬輸入 20
3.6 動態調整力場參數 22
3.6.1 縮小取樣及模擬實驗範圍 23
3.6.2 將參數惰性化以避免變化過於頻繁 24
3.7 實驗結果 24
3.7.1 使用與未使用傾向分析比較 25
3.7.2 模擬實驗與動態調整的比較 27
3.7.3 結論 28
第四章 改善漸進式街圖法應用於輔助虛擬環境瀏覽之路徑品質 29
4.1 RRF漸進式街圖 29
4.1.1. RRF的建構 30
4.1.2. RRF的精簡 31
4.2 RRF路徑的先天限制 32
4.3 使用虛擬鏈結的概念改善此問題 33
4.4 產生虛擬鏈結 34
4.5 路徑搜尋 36
4.6 精簡虛擬鏈結 37
4.7 實驗結果與討論 39
第五章 智慧型人形化身控制 42
5.1 化身的局部運動的搭配 42
5.2 問題描述與基本元素介紹 45
5.2.1 問題描述 46
5.2.2 化身自由度模型 48
5.2.3 化身活動能力圖 48
5.2.4 目標函式 49
5.2.5 關鍵格佇列 50
5.3 系統運作流程 51
5.4 全域路徑計畫器 54
5.5 局部運動計畫 55
5.5.1 「組態-時間」空間街圖 55
5.5.2 「組態-時間」空間街圖搜尋 58
5.6 系統的限制與參數討論 62
5.7 實做細節 64
第六章 實驗結果與討論 66
6.1 實作與實驗環境 66
6.2 效用測試 68
6.2.1. 實驗設計 68
6.2.2. 實驗結果與討論 71
6.3 應用場景效能測試 75
6.3.1. 實驗設計 75
6.3.2. 實驗結果與討論 79
6.4 討論 80
第七章 結論與未來發展 83
7.1 結論 83
7.2 未來發展 83
參考文獻 85		zh_TW
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dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0927530041en_US
dc.subject (關鍵詞) 智慧型3D介面zh_TW
dc.subject (關鍵詞) 運動計畫zh_TW
dc.subject (關鍵詞) 人體動畫zh_TW
dc.subject (關鍵詞) Intelligent 3D interfaceen_US
dc.subject (關鍵詞) motion planningen_US
dc.subject (關鍵詞) Humanoid Animationen_US
dc.title (題名) 虛擬環境中智慧型化身之控制zh_TW
dc.type (資料類型) thesisen
dc.relation.reference (參考文獻) [1] G. Arechavaleta, C. Esteves and J.P. Laumond, “Planning fine motions for a digi-tal factotum,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’04), p.822-827, 2004.zh_TW
dc.relation.reference (參考文獻) [2] R. Bohlin and L.E. Kavraki, “Path Planning Using Lazy PRM,” in Proc. of IEEE Int. Conf. on Robotics & Automation, p.521-528, 2000.zh_TW
dc.relation.reference (參考文獻) [3] M. Brand and A. Hertzmann, “Style Machines,” in Proc. of the 27th Conference on Computer Graphics and Interactive Techniques, p.183-192, 2000zh_TW
dc.relation.reference (參考文獻) [4] A. Celentano, M. Nodari and F. Pittarello, “Adaptive Interaction in Web3D Virtual Worlds,” in Proc. of the 9th Conference on Web3D Technology, p.41-50, 2004zh_TW
dc.relation.reference (參考文獻) [5] M. Chen, S.J. Mountford and A. Sellen, “A Study in Interactive 3D Rotation Using 2D Control Devices,” in ACM SIGGRAPH Computer Graphics, Vol.22, No.4, p.121-129, 1988zh_TW
dc.relation.reference (參考文獻) [6] P.K. Egbert and S.H. Winkler, “Collision-Free Object Movement Using Vector-Fields,” in IEEE Computer Graphics and Applications, Vol.16, No.4, p.18-24, 1996.zh_TW
dc.relation.reference (參考文獻) [7] M. Erdmann and T. Lozano-Perez, “On Multiple Moving Objects,” in Algorithmica, Vol.2, No.4, p.477-521, 1987.zh_TW
dc.relation.reference (參考文獻) [8] H-Anim specification：http://www.h-anim.org/zh_TW
dc.relation.reference (參考文獻) [9] A.J. Hanson and E. Wernert, “Constrained 3D Navigation with 2D Controllers. in Proc. of Visualization ’97, p.175-182, 1997.zh_TW
dc.relation.reference (參考文獻) [10] M. Kallmann, A. Aubel, T. Abaci and D. Thalmann, "Planning Collision-Free Reaching Motions for Interactive Object Manipulation and Grasping," in Computer Graphic Forum, Vol.22, p. 313-322, 2003.zh_TW
dc.relation.reference (參考文獻) [11] L. Kavraki, P. Svestka, J.C. Latombe and M. H. Overmars, “Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Space,” in IEEE Trans. on Robotics and Automation, Vol.12, No.4, p.566-580, 1996.zh_TW
dc.relation.reference (參考文獻) [12] Y. Koga, K. Kondo, J.J. Kuffner and J.C. Latombe, "Planning Motions with Inten-tions," in SIGGRAPH `94: Proc. of the 21st Annual Conference on Computer Graphics and Interactive Techniques, p.395-408, 1994.zh_TW
dc.relation.reference (參考文獻) [13] J.J. Kuffner, "Goal-Directed Navigation for Animated Characters Using Real-Time Path Planning and Control," in CAPTECH `98: Proc. of the International Workshop on Modelling and Motion Capture Techniques for Virtual Environments, p.171-186, 1998.zh_TW
dc.relation.reference (參考文獻) [14] J.J. Kuffner and S.M. LaValle, “RRT-Connect: An Efficient Approach to Sin-gle-Query Path Planning,” in Proc. IEEE International Conf. on Robotics and Auto-mation, p.995-1001, 2000.zh_TW
dc.relation.reference (參考文獻) [15] J. Latombe, Robot Motion Planning, Kluwer Academic Publishers, 1991.zh_TW
dc.relation.reference (參考文獻) [16] S.M. LaValle, “Rapidly-Exploring Random Trees: A New Tool for Path Planning,” Technical Report, Computer Science Dept., Iowa State University, 1998.zh_TW
dc.relation.reference (參考文獻) [17] B. Lenzmann and I. Wachsmuth, “A User Adaptive Interface Agency for Interaction with a Virtual Environment,” in Working Notes of the IJCAI-95 Workshop on Adap-tation and Learning in Multi-agent Systems, p.43-46, 1995.zh_TW
dc.relation.reference (參考文獻) [18] T.Y. Li, P.F. Chen and P.Z. Huang, "Motion Planning for Humanoid Walking in a Layered Environment." in Proc. of the IEEE Int. Conf. on Robotics and Automation, p.3421-3427, 2003.zh_TW
dc.relation.reference (參考文獻) [19] T.Y. Li and H.C. Chou, "Improving Navigation Efficiency with Artificial Force Field," in Proc. of IPPR Conference on Computer Vision, Graphics, and Image Processing, 2001.zh_TW
dc.relation.reference (參考文獻) [20] T.Y. Li, Y.J Jeng and S.I Chang, “Simulating Virtual Human Crowds with a Leader-Follower Model,” in Proc. of the Computer Animation Conference, 2001.zh_TW
dc.relation.reference (參考文獻) [21] T.Y. Li, J.M. Lien, S.Y. Chiu and T.H. Yu, “Automatically Generating Virtual Guided Tours,” in Proc. of the Computer Animation Conference, p.99-106, 1999.zh_TW
dc.relation.reference (參考文獻) [22] T.Y. Li and Y.C. Shie, "An Incremental Learning Approach to Motion Planning with Roadmap Management," in Proc. of the IEEE Int. Conf. on Robotics and Automa-tion, p.3411-3416, 2002.zh_TW
dc.relation.reference (參考文獻) [23] T.Y. Li and H.K. Ting, “An Intelligent User Interface with Motion Planning for 3D Navigation,” in Proc. of the IEEE Virtual Reality Conference, p.177-184, 2000.zh_TW
dc.relation.reference (參考文獻) [24] B. Mirtich, “V-Clip: Fast and Robust Polyhedral Collision Detection,” ACM Trans-actions on Graphics, Vol.17 No.3, p.177-208, 1998.zh_TW
dc.relation.reference (參考文獻) [25] G.M. Neilson and D.R. Olsen, “Direct Manipulation Techniques for 3D Objects Using 2D Locator Devices,” in Proc. of the Workshop on Interactive 3D Graphics, p.175-182, 1986.zh_TW
dc.relation.reference (參考文獻) [26] M.H. Overmars and P. Svestka, “A probabilistic Learning Approach to Motion Plan-ning,” in Proc. of the Workshop on Algorithmic Foundations of Robotics, p.19-37, 1995.zh_TW
dc.relation.reference (參考文獻) [27] J. Pettre, J.P. Laumond and T. Simeon, “A 2-Stages Locomotion Planner for Digital Actors,” in Proc. of the 2003 ACM SIGGRAPH/Eurographics Symposium on Com-puter Animation, p.258-264, 2003.zh_TW
dc.relation.reference (參考文獻) [28] C. Rose, M.F. Cohen and B. Bodenheimer, “Verbs and Adverbs: Multidimensional Motion Interpolation,” IEEE Computer Graphics and Applications, Vol.18, No.5, p.32-40, 1998.zh_TW
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