Title: Motion Capture Essentials 1 Motion Capture Essentials. D.

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Robertson, PhD 2 Outline. Select appropriate marker set and type of markers. Determine number of cameras and their locations. Select appropriate location, number and types of force measuring devices (force platforms, force transducers). Other demands EMGs, netting, speed guns, standardized footwear and equipment?

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MOTION CAPTURE TECHNOLOGY. 1. MOTION CAPTURE TECHNOLOGY Page 1 CHAPTER 1 INTRODUCTION TO MOTION CAPTURE TECHNOLOGY 'Motion Capture' is the term used to describe the process of recording human movement and translating that movement onto a digital model. It is used in military, entertainment, sports, medical applications for validation of computer vision and robotics. In film making it refers to recording the actions of human actors, and using that information to animate digital character models in 2D or 3D computer animation. When it includes face, fingers and captures subtle expressions, it is often referred to as performance capture in motion capture sessions. Movements of one or more actors are sampled many times per second, although with most techniques motion capture records only the movement of actors, not his or her visual appearance this animation data is mapped to a 3D model so that the model performs the same actions as the actor.

This is comparable to the older technique of rotoscope such as 1978 'The Lord Of Rings' animated film where visual appearance of the motion of an actor was filmed, then the film is used as guide for the frame by frame motion of the hand-drawn animated character. Camera movements can also be motion captured so that a virtual camera in the scene will pan, tilt, or dolly around the stage driven by a camera operator while the actor is performing, and the motion capture system can capture the camera and props as well as the actor's performance. This allows the computer-generated characters, images and sets to have the same perspective as the video images from the camera. A computer processes the data and displays the movements of the actor, providing the desired camera positions in terms of objects in the set.

Retroactively obtaining camera movement data from the captured footage is known as match moving or camera tracking. MOTION CAPTURE TECHNOLOGY Page 2 Research and development of digital MOCAP technology started in pursuit of medical and military applications in the 1970s. The CGI industry discovered the technology‟s potentials in the 1980s. Since some of this book‟s readers weren‟t born in the 1980s, let‟s recall the 1980s.

In the 1980s there were floppy disks that were actually floppy and most computers were equipped with monochrome monitors, some with calligraphic displays. To view color images, for example rendered animation frames, images had to be sent to a “frame buffer,” which was often shared by multiple users due to its cost. Large computers were housed in ice cold server rooms. The noise of dot matrix printers filled offices.

Ray-tracing and radio city algorithms were published in the 1980s. Renderers based on these algorithms required a supercomputer or workstations to render animation frames in a reasonable amount of time. Personal computers weren‟t powerful enough. (Ray-tracing and radio city didn‟t become widely available until the computing power improved.) CPUs, memories, storage devices, and applications were more expensive than today. Wave front Technologies developed and marketed the first commercial off-the-shelf 3D computer animation software in 1985. Only a handful of computer animation production companies existed.

Most of the animations that they produced were “flying logos” for TV commercials or TV programme‟s opening sequences. These were often 15 to 30 seconds long per piece.

The readers who saw “Brilliance” (also called “Sexy Robot”) in the 1980s probably still remember the astonishment of seeing a computer generated character, a shiny female robot, moving like a real human being. “Brilliance” was produced by Robert Abel and Associates for the National Canned Food Information Council and was aired during the 1985 Super Bowl. They invented their own method for capturing motion for the project.

They painted black dots on 18 joints of a female model and photographed her action on a swivel stool from multiple angles. The images were imported into Silicon Graphics workstations and a number of applications were employed to extract the. MOTION CAPTURE TECHNOLOGY Page 3 information necessary to animate the CGI robot. They didn‟t have enough computing power to render frames for the 30 second piece in house. So, in the final 2 weeks before the project deadline they borrowed VAX 11/750 computers around the country to render.

The final product was a ground breaking piece and is regarded as a milestone in the history of CGI. MOTION CAPTURE TECHNOLOGY Page 4 CHAPTER 2 HISTORY OF MOTION CAPTURE The use of motion capture to animate characters on computers is relatively recent, it started in the 1970‟s and now just beginning to spread. Motion Capture is recording the movements of human body for immediate analysis. The captured information can be as simple as catching the body position in space or as forms like bvh, bip, fbx etc. Which can be used to animate 3D characters in 3D„s max, maya etc.

Motion capture for animation is the superposition of human movement on their virtual identities this capture can e direct such as the animation of virtual function of movement of an arm or indirect such as that of human hand with a more thorough as the effect of light color. To make the most convincing human movement in “snow white”, Disney studios design an animation film on a film or real players. 2.1 ROTOSCOPING A Rotoscoping is a device that enables animators to trace live action movement, frame by frame, for use in animation. This method is called 'Rotoscoping'. Fig 2.1 Rotoscoping. MOTION CAPTURE TECHNOLOGY Page 5 2.1.1Captured Video Rotoscoping works by first capturing a video of a real actor around props that resembles elements of a scene.

Fig 2.2 Capturing a video 2.1.2Tracing Animators then trace over each frame of the recorded video, this would result in a figure that moved in a very realistic fashion. 2.1.3Post Processing: Finally, the animated figure would be colored and then integrated with various background layers to create the final shot. Fig 2.3 Post Processing. MOTION CAPTURE TECHNOLOGY Page 6 CHAPTER 3 DIFFERENT TYPES OF MOTION CAPTURE Motion Capture technology can be achieved by using the following three types of techniques: 1.Mechanical motion capture 2.Optical motion capture 3.Magnetic motion capture Now although this technique is effective, it still contains some problems (weight, Cost). But against any doubt that the motion capture will become one of the basic tools of animation. 3.1Mechanical Motion capture: This technique of motion capture is achieved through the use of an exoskeleton. Each joint is then connected to an angular encoder.

The value of movement of each encoder (rotation etc.) is recorded by a computer that by knowing the relative position encoders (and therefore joints) can rebuild these movements on the screen using software. An offset is applied to each encoder. Because it is very difficult to match exactly their position with that of the real relationship (and especially in the case of human movements).

MOTION CAPTURE TECHNOLOGY Page 7 Fig 3.1 Mechanical Motion Capture using Exo skeleton 3.1.1 Advantages and Disadvantages 1.This technique offers high precision and it has the advantage of not being influenced by external factors (such as quality or the number of cameras for Optical MOCAP). 2.But the catch is limited by mechanical constraints related to the implementation of the encoders and the exoskeleton. It should be noted that the exoskeleton generally use wired connections to connect the encoders to the computer. For example, there is much more difficult to move with a fairly heavy exoskeleton and connected to a large number of simple son with small reflective sphere.

The freedom of movement is rather limited. 3.The accuracy of reproduction of the movement depends on the position encoders and modeling of the skeleton. It must match the size of the exoskeleton at each morphology. The big disadvantage comes from the coders themselves because if they are of great precision between them it cannot move the object to capture in a so true.

In effect, then use the method of optical positioning to place the animation in a decor. Finally, each object to animate to need an exoskeleton over it is quite complicated to measure the interaction of several exoskeleton. Thereby bringing about a scene involving several people will be very difficult to implement. MOTION CAPTURE TECHNOLOGY Page 8 3.2 Magnetic motion capture: Magnetic motion capture is done through a field of electro-Magenta is introduced in which sensors are coils of sensors electriques, Les son are represented on a place mark in 3 axes x,y,z. To determine their position on the capture field disturbance created by a son through an antenna then we can know its orientation.

Fig 3.2 Magnetic Field Transmitter Source 3.2.1Advantages and disadvantages 1.The advantage of this method is that data captured is accurate and no further calculations excluding from the calculation of position is useful in handling. 2.But any metal object disturbs the magnetic field and distorts the data. 3.3 Optical Motion Capture: The capture is based on optical shooting several synchronized cameras, the synthesis of coordinates (x, y) of the same object from different angles allows to deduce the coordinates (x, y, z). This method involves the consideration of complex problems such as optical parallax. Distortion lens used, etc.

The signal thus undergoes many interpolations. A correct calibration of these parameters will help in high accuracy of data collected. To determine their position on the capture field disturbance created by a son through an antenna then we can know its orientation. MOTION CAPTURE TECHNOLOGY Page 9 Fig 3.3 Camera emitting Infrared Radiations The operating principle is similar to radar: the cameras emit radiation usually infrared, reflected by the markers and then returned to the same cameras. Checking the information of each camera (minimum two cameras ) to determine the position of markers in virtual space.

MOTION CAPTURE TECHNOLOGY Page 10 CHAPTER 4 METHODS AND SYSTEMS Motion tracking or motion capture started as a photogrammetric analysis tool in biomechanics research in the 1970s and 1980's and expanded into education. Sports and recently computer animation for television. Cinema and video games as the technology matured. A performer wears markers near each joint to identify the motion by the positions or angles between the markers. Acoustic, inertial, LED, magnetic or reflective markers or combinations of any of these are tracked. Optimally at least two times the frequencyrate of the desired motion, to sub millimeter positions.

4.1 OPTICAL SYSTEMS: Optical systems utilize data captured from image sensors to triangulate the 3D position a subject between one or more cameras calibrated to provide overlapping projections. Data acquisition is traditionally implemented using special markers attached to an actor. However, more recent systems are able to generate accurate data by tracking surface features identified dynamically for each partial. Subject Tracking a large number of performers or expanding the capture area is accomplished by the addition of more cameras. These systems produce data with 3 degrees of freedom for each marker and rotational information must be inferred from the relative orientation of three or more markers for instance shoulder. Elbow and wrist markers providing the angle of the elbow.

4.1.1 PASSIVE MARKERS Fig 4.1 A dancer wearing a suit used in optical motion capture. MOTION CAPTURE TECHNOLOGY Page 11 Passive optical system use markers coated with a retro reflective material to reflect light back that is generated near the cameras lens.

The camera's threshold can be adjusted so only the bright reflective markers will be sampled, ignoring skin and fabric. The centroid of the marker is estimated as a position within the 2 dimensional image that is captured. The grayscale value of each pixel can be used to provide sub-pixel accuracy by finding the centroidof the Gaussian. Providing two calibrated cameras see a marker, a 3 dimensional fix can be obtained. Typically a system will consist of around 6 to 24 cameras. Systems of over three hundred cameras exist to try to reduce marker swap.

Extra cameras are required for full coverage around the capture subject and multiple subjects. Vendors have constraint software to reduce problems from marker swapping since all markers appear identical. Unlike active marker systems and magnetic systems. Passive systems do not require the user to wear wires or electronic equipment.

Hundreds of rubber balls are attached with reflective tape, which need to be replaced periodically. The markers are usually attached directly to the skin (as in biomechanics) or they are velcroed to a performer wearing a full body spandex/lycra suit designed specifically for motion capture. This type of system can capture large numbers of markers at frame rates as high as 2000fps. The frame rate for a given system is often balanced between resolution and speed: a 4-megapixel system normally runs at 370 hertz but can reduce the resolution to 3 megapixels and then run at 2000 hertz.

Typical systems are S100,000 for 4-megapixel 360-hertz systems. And S50,000 for 3-megapixel 120- hertz systems. 4.1.2 Active Marker Active optical systems triangulate positions by illuminating one LED at a time very quickly or multiple LEDs with software to identify them by their relative positions. Somewhat akin to celestial navigation. Rather than reflecting. MOTION CAPTURE TECHNOLOGY Page 12 light back that is generated externally, the markers themselves are powered to emit their own light.

Since Inverse Square law provides 1/4 the power at 2 times the distance, this can increase the distances and volume for capture. The TV series ('Stargate SG1') episode was produced using an active optical system for the VFX. The actor had to walk around props that would make motion capture difficult for other non-active optical systems.

ILM used active Markers in Van Helsing to allow capture of the Harpies on very large sets. The power to each marker can be provided sequentially in phase with the capture system providing a unique identification of each marker for a given capture frame at a cost to the resultant frame rate.

The ability to identify each marker in this manner is useful in real time applications. The alternative method of identifying markers is to do it algorithmically requiring extra processing of the data. Fig 4.2 Several markers are placed at specific position an actor's face during facial optical motion capture 4.1.3 TIME MODULATED ACTIVE MARKER Active marker systems can further be refined by strobing one marker on at a time or tracking multiple markers over time and modulating the amplitude or pulse width to provide marker ID. 12 megapixel spatial resolution modulated systems show more subtle movements than 4 megapixel optical systems by. MOTION CAPTURE TECHNOLOGY Page 13 having both higher spatial and temporal resolution. Fig 4.3 Showing different stages of motion capture technology Directors can see the actors performance in real time and watch the results on the MOCAP driven CG character The unique marker reduce the turnaround by eliminating marker swapping and providing much cleaner data than other technologies.

LEDs with onboard processing and a radio synchronization allow motion capture outdoors in direct sunlight while capturing at 480 frames per second due to a high speed electronic shutter. Computer processing of modulated allows less hand cleanup or filtered results for lower operational costs. This higher accuracy and resolution requires more processing than passive technologies but the additional processing is done at the camera to improve resolution via a sub pixel or centroid processing, providing both high resolution and high speed. These motion capture systems are typically under $50,000 for an eight camera megapixel spatial resolution 480 hertz system with one actor. IR sensors can compute their location when lit by mobile multi-LED emitters, e.g.

In a moving car. With Id per marker, these sensor tags can be worn underclothing and tracked at 500 Hz in broad daylight. MOTION CAPTURE TECHNOLOGY Page 14 4.1.4 SEMI-PASSIVE IMPERCEPTIBLE MARKER One can reverse the traditional approach based on high speed cameras. Systems use inexpensive multi-LED high speed projectors.

The specially built multi-LED IR projectors optically encode the space. Instead of retro-reflective or active light emitting diode (LED) markers. The system uses photosensitive marker tags to decode the optical signals.

By attaching tags with photo sensors to scene points the tags can compute not only their own locations of each point, but also their own orientation, incident, illumination and reflectance. These tracking tags that work in natural lighting conditions and can be imperceptibly embedded in attire or other object & the system supports an unlimited number of tags in a scene.

With each tag uniquely identified to eliminate marker reacquisition issues. Since the system eliminates a high speed camera and the corresponding high-speed image stream, it requires significantly lower data bandwidth.

The tags also provide incident illumination data which can be used to match scene lighting when inserting synthetic elements. The technique appears ideal for on-set motion capture or real- time broadcasting of virtual sets but has yet to be proven. 4.1.5 MARKER LESS Emerging techniques and research in computer vision are leading to the rapid development of the marker less approach to motion capture. Marker less systems such as those developed at Stanford University of Maryland, MIT and Max Plan Institute do not require subjects to wear special equipment for tracking. 4.2 NON OPTICAL SYSTEMS An optical tracking system typically consists of 3 subsystems. The optical imaging system, the mechanical tracking platform and the tracking computer. The optical imaging system is responsible for converting the light from the target area into digital image that the tracking computer can process.

Depending. MOTION CAPTURE TECHNOLOGY Page 15 on the design of the optical tracking system, the optical imaging system can vary from as simple as a standard digital camera to as specialized as an astronomical telescope on the top of a mountain. The specification of the optical imaging system determines the upper-limit of the effective range of the tracking system. The mechanical tracking platform holds the optical imaging system and is responsible for manipulating the optical imaging system in such a way that it always points to the target being tracked. Consistency with the way ms word for mac. The dynamics of the mechanical tracking platform combined with the optical imaging system determines the tracking system's ability to keep the lock on a target that changes speed rapidly. The tracking computer is responsible for capturing the images from the optical imaging system, analyzing the image to extract target position and controlling the mechanical tracking platform to follow the target. There are several challenges.

First the tracking computer has to be able to capture the image at a relatively high frame rate. This posts a requirement on the bandwidth of the image capturing hardware. The second challenge is that the image processing software has to be able to extract the target image from its background and calculate its position. Several textbooks, image processing algorithms are designed for this task but each has its own limitations. This problem can be simplified if the tracking system can expect certain characteristics that is common in all the targets it will track.

The next problem down the line is to control the tracking platform to follow the target. This is a typical control system design problem rather than a challenge, which involves modeling the system dynamics and designing controllers to control it.

This will however become a challenge if the tracking platform the system has to work with is not designed for real-time and highly dynamic applications, in which case the tracking software has to compensate for the mechanical and software imperfections of the tracking platform. MOTION CAPTURE TECHNOLOGY Page 16 Traditionally optical tracking systems often involves highly customized optical and electrical subsystems. The software that runs such systems are also customized for the corresponding hardware components. Because of the real-time nature of the application and the limited size of the market, commercializing optical tracking software posts a big challenge. One example of such software is Optic Tracker, which controls computerized telescopes to track moving objects at great distances, such as planes and satellites.

4.2.1 MAGNETIC SYSTEMS Magnetic systems calculate position and orientation by the relative magnetic flux of three orthogonal coils on both the transmitter and each receiver. The relative intensity of the voltage or current of the three coils allows these systems to calculate both range and orientation by meticulously mapping the tracking volume. The sensor output is 6D0F, which provides useful results obtained with two-thirds the number of markers required in optical systems; one on upper arm and one on lower arm for elbow position and angle. The markers are not occluded by nonmetallic objects but are susceptible to magnetic and electrical interference from metal objects in the environmental like rebar (steel reinforcing bars in concrete) or wiring which affect the magnetic field and electrical sources such as monitors, lights, cables and computers. The sensor response is nonlinear, especially toward edges of the capture area. The wiring from the sensors tends to preclude extreme performance movement.

The capture volumes for magnetic systems are dramatically smaller than they are for optical systems. With the magnetic systems, there is a distinction between “AC' and DC' systems: one uses square pulses, the other uses sine wave pulse. MOTION CAPTURE TECHNOLOGY Page 17 CHAPTER 5 APPLICATIONS 5.1.Entertainment 1.Computer generated characters in live action films like avatar, polar express. 2.Games using motion capture technology such as prince of persia, grand theft auto 5 etc. 5.2.Medicine 1.For gait analysis, rehabilitation. Injury prevention, performance analysis, performance enhancement in sports.

5.3Science / Engineering 1.In Engineering for Biped robot developments. In Military for field exercises, virtual instructors and role-playing games. MOTION CAPTURE TECHNOLOGY Page 18 CHAPTER 6 ADVANTAGES Motion capture offers several advantages over traditional computer animation of a 3D model 1.More rapid, even real time results can be obtained. In entertainment applications this can reduce the costs of key frame-based animation. 2.The amount of work does not vary with the complexity or length of the performance to the same degree as when using traditional techniques. This allows many tests to be done with different styles or deliveries.

3.Comlpex movement and realistic physical interactions such as secondary motions, weight and exchange of forces can be easily recreated in a physically accurate manner. 4.The amount of animation data that can be produced within a given time is extremely large when compared to traditional animation techniques. This contributes to both cost effectiveness and meeting production deadlines.

5.Potential free software and third party solutions reducing its costs. MOTION CAPTURE TECHNOLOGY Page 19 CONCLUSION Although the motion capture requires some technical means, we can quite get what to do it yourself at home in a reasonable cost that can make your own short film.

Motion capture is a major in the field of cinemas as you can reprocess the image in a more simple in fact it is easier to modify an image captured a classic scene, all although this is too expensive, but it is also a major asset in medicine, for example it can be used to measure the benefit of a transaction via recording of the movement of patient before or after the operation (such as in the case of application prosthesis or simply at a medical classic in the future perhaps). MOTION CAPTURE TECHNOLOGY Page 20 REFERENCES 1.Goal, W.; Palmer, C. 'Temporal Control and Hand Movement Efficiency in Skilled Music Performance'. 2.Jon Rudolf, Anatomy of an MMORPG, 3.'

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