27. november 2017

Kenny Erleben modtager Best Short Paper Award ved MIG'17

Best Short Paper Award

Lektor Kenny Erleben har sammen med Sheldon Andrews fået tildelt en Best Paper Award ved ACM SIGGRAPH Motion in Games (MIG '17) for artiklen Inverse Kinematics Problems with Exact Hessian Matrices.

MIG konferencen blev afholdt for 10. gang i november 2017, hvor der er fokus på bl. a. spilteknologi, robotteknologi, grafik og computer vision. 

Kenny Erlebens artikel er en af de fire som modtog en award. Til konferencen blev der uddelt Best Paper Award, Best Short Paper Award, Best Poster Award og Best Presentation Award.


Inverse kinematics (IK) is a central component of systems for moion capture, character animation, motion planning, and robotics control. The field of computer graphics has developed fast stationary point solvers methods, such as the Jacobian transpose method and cyclic coordinate descent. Much work with Newton methods focus on avoiding directly computing the Hessian, and instead approximations are sought, such as in the BFGS class of solvers. This paper presents a numerical method for computing the exact Hessian of an IK system with spherical joints. It is applicable to human skeletons in computer animation applications and some, but not all, robots. Our results show that using exact Hessians can give performance advantages and higher accuracy compared to standard numerical methods used for solving IK problems. Furthermore, we provide code and supplementary details that allows researchers to plug-in exact Hessians in their own work with little effort.

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