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| :: Description :: |
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Golaem Path is a toolkit dedicated to the analysis of a 3D environment geometry, in order to generate suitable data structures for path finding and navigation. This toolkit provides a two step process: an off-line computation of spatial representation and a library providing on-line processes dedicated to path planning, environmental requests...
Golaem Path is based on an exact 3D spatial subdivision which accurately identify floor and ceiling constraints for each point of the environment. Thanks to this spatial subdivision and some humanoid characteristics, an environment topology is computed. This topology accurately identify navigable zones by connecting 3D cells of the spatial subdivision. Based on this topology several maps representing the environment are extracted. Those maps identify obstacles and step borders as well as bottlenecks. Based on this representation, several concise and accurate roadmaps are generated to handle real time path planning within the environment. This spatial representation is computed off-line thanks to a tool provided with the library.
Provided algorithms and data structure do not relate to a virtual human animation toolkit. They are stand alone and can be easily connected to a user architecture.
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| :: Features :: |
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• 3D Spatial Subdivision & Topology Extraction (Fully Automatic)
- Exact subdivision
- Identifies floor, ceiling & homogeneous areas (obstacles, stairs...)
- Compute blottlenecks
- Generates compact & optimal roadmaps
- Intuitive & flexible parametrization
• 3D Path Finding
- Efficient spatial queries
- Optimization of trajectories in real time
Based on the computed roadmaps, Golaem Path provides a 3D path planning algorithm enabling to plan path within very constrained environments. The path generated by the path planning algorithm may not be realistic. Thus, Golaem Path provides a trajectory optimization algorithm enabling the generation of shorter and more realistic trajectories.
• Smart Footprints Generation
- Realistic footprints generation on the fly
In order to accurately control a virtual human navigating inside a 3D environment, a footprint generation process is provided. This process can be coupled with the trajectory optimization algorithm to generate footprints along a trajectory that respect environmental constraints such as correctly putting a foot on a step of a stair for example.
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| :: Workflow :: |
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Golaem Path Workflow |
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| :: White Papers :: |
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Under construction.
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