3D mouse pose from single-view video and a new dataset.

We present a method to infer the 3D pose of mice, including the limbs and feet, from monocular videos. Many human clinical conditions and their corresponding animal models result in abnormal motion, and accurately measuring 3D motion at scale offers insights into health. The 3D poses improve classification of health-related attributes over 2D representations. The inferred poses are accurate enough to estimate stride length even when the feet are mostly occluded. This method could be applied as part of a continuous monitoring system to non-invasively measure animal health, as demonstrated by its use in successfully classifying animals based on age and genotype. We introduce the Mouse Pose Analysis Dataset, the first large scale video dataset of lab mice in their home cage with ground truth keypoint and behavior labels. The dataset also contains high resolution mouse CT scans, which we use to build the shape models for 3D pose reconstruction.

Interactive navigation of heterogeneous agents using adaptive roadmaps.

We present a novel algorithm for collision-free navigation of a large number of independent agents in complex and dynamic environments. We introduce adaptive roadmaps to perform global path planning for each agent simultaneously. Our algorithm takes into account dynamic obstacles and interagents interaction forces to continuously update the roadmap based on a physically-based dynamics simulator. In order to efficiently update the links, we perform adaptive particle-based sampling along the links. We also introduce the notion of 'link bands' to resolve collisions among multiple agents. In practice, our algorithm can perform real-time navigation of hundreds and thousands of human agents in indoor and outdoor scenes.

Real-time path planning in dynamic virtual environments using multiagent navigation graphs.

We present a novel approach for efficient path planning and navigation of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed using first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. Moreover, we use the path information and proximity relationships for local dynamics computation of each agent by extending a social force model [Helbing05]. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues and present techniques to improve the accuracy of our algorithm. Our algorithm is used for real-time multi-agent planning in pursuit-evasion, terrain exploration and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.

Fast simulation of Laplacian growth.

Laplacian instability is the physical mechanism driving pattern formation in many disparate natural phenomena. Current algorithms for simulating this instability are slow and memory intensive. A new algorithm, based on the dielectric breakdown model from physics, is more than three orders of magnitude faster than previous methods and decreases memory use by two orders of magnitude.