Physically based motion retargeting filter

Abstract

A method for editing motion of a character includes steps of a) providing an input motion of the character sequentially along with a set of kinematic and dynamic constraints, wherein the input motion is provided by a captured or animated motion; b) applying a series of plurality of unscented Kalman filters for solving the contraints; c) processing the output from the unscented Kalman filters with a least-squares filter for rectifying the output; and d) producing a stream of output motion frames at a stable interactive rate. The steps are applied to each frame of the input motion The method may further include a step of controlling the behavior of the filters by tuning parameters and a step of providing a rough sketch for the filters to produce a desired motion. The Kalman filter includes per-frame Kalman filter. The least-squares filter is applied only to recently processed frames

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