US 7,024,279 B2 · Interpolation using radial basis functions with application to inverse kinematics

Abstract

A technique for solving an inverse-kinematic problem by interpolating solutions from examples. Example poses or motions of an object are collected and annotated. The annotations are essentially parameters for a function—i.e., the function X(p) generates degree-of-freedom values of an object that is posed in a manner that satisfies parameters p. The analytic function X is interpolated from these examples and improved automatically based on kinematic measurements. Preferably, the interpolation is created by taking a weighted sum of cardinal basis functions having linear and radial parts, Preferably, the interpolation is a weighted sum of cardinal basis functions having linear and radial portions.

Claims22

Dependent claims

A method of posing an object comprising:

collecting a plurality of example poses of the object;
annotating the examples with one or more parameters;
and
creating an interpolation function that passes through the annotated examples, wherein the interpolation function produces one or more degree-of-freedom values for the object based on a given set of parameters, interpolation being based at least in part on a plurality of radial basis functions;
selecting a first set of parameters;
applying the interpolation function to the first set of parameters to generate a first set of one or more degree-of-freedom values;
and
generating a pose for the object in accordance with the first set of degree-of-freedom values.

5 more elements

A computer-readable medium containing computer-executable instructions for performing a method of interpolating a pose of an object from a plurality of examples, the method comprising:

creating a cardinal basis weighting function corresponding to each of the plurality of examples, each cardinal basis weighting function being based on radial basis functions and linear basis functions;
and
creating a callable function that computes the pose based on a sum of the plurality of examples, wherein each example in the sum is multiplied by the cardinal basis weighting function corresponding to the example.

A method of creating function that produces a pose of an object based on one or more parameters, the method comprising:

creating a first function based on a plurality of examples;
determining that said first function does not satisfy a criterion;
creating a pseudo-example;
and
creating a second function based on the plurality of examples and the pseudo-example, wherein the second function produces the pose of the object and satisfies the criterion.

2 more elements

Dependencies are inferred from the claim text.

Interpolation using radial basis functions with application to inverse kinematics

Life of this patent

Interpolation using radial basis functions with application to inverse kinematics

Life of this patent

Abstract

Claims22