Quaternion Synthesis of Visual Data for Mimicking the Humanoid Locomotion

Abstract

Simulations of a 3D model by visual data is typical task, Visual data only represents movement of body, extraction of the joint angle trajectories with this data is a typical task, In this research, We proposed a novel method to extract the Homogeneous kinematics transformation matrix for every joint with help of energy silhouettes of 3D subjects and how to mimic the exact trajectories for this visual data in simulation environment. The hierarchical kinematics synthesis is used to synthesis the approach for articulated skeleton which generates from 3D model. In this paper, A full body joint angle trajectories movement articulated in the skeleton form, and key poses are extracted. These key poses are synthesized by the hierarchical kinematics synthesis which includes the revolute and spherical joints corresponding 5 serial chain of human body. The result shows the process effectively recover the joint angle trajectories of the full body articulated skeleton and generate the exact pose of mimicking the gesture.

Keywords: Visual data, articulated skeleton, Gait, Motion Capture, Degree of Freedom (DoF), Bipedal, NaO, HOAP2.