Inverse Kinematics Using Sequential Monte Carlo Methods
In this paper we propose an original approach to solve the Inverse Kinematics problem. Our framework is based on Sequential Monte Carlo Methods and has the advantage to avoid the classical pitfalls of numerical inversion methods since only direct calculations are required. The resulting algorithm accepts arbitrary constraints and exhibits linear complexity with respect to the number of degrees of freedom. Hence, the proposed system is far more efficient for articulated figures with a high number of degrees of freedom.
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