Motion Capture Data to Achieve Positional

In animating an articulated entity with motion capture data, if the reconstruction is based on forward kinematics, there could be a large error in the ende ector position. The inaccuracy becomes conspicuous when the entity makes interactions with the environment or other entities. The frames at which the end-e ector position needs to be accurate are designated as "keyframes" (e.g. the impact moment in a punch). We present an algorithm that processes the original joint angle data to produce a new motion in which the end-e ector error is reduced to zero at keyframes. The new motion shouldn't be too much di erent from the original motion. We formulated the problem as a constrained minimization problem so that the characteristics of the original joint angle data is optimally preserved during the enhancement steps. The algorithm was applied to several examples such as boxing, kicking, and catching motions. Experiments prove that our algorithm is a valuable tool to improve captured motion especially when the end-e ector trajectory contains a special goal. 2 List of Symbols All the symbols used in this paper are produced by LaTeX. In the following, we list the rst instances of symbols in the sections where they appear. We do not list the second and the later instances. The right side of ":" in each row shows the LaTeX representation of the symbol.