Automatic Fixing of Foot Skating of Human Motions from Depth Sensor

This paper presents a real time algorithm for solving foot skating problem of a character whose motions are controlled in on-line puppetry manner through motion depth sensor such as Kinect. The IR (Infrared Light) projection-based motion sensor is very sensitive to occlusion and light condition. One significant artifact from these characteristics is foot skating, which means that feet are floating over the ground even when the character is standing still. Our algorithm is working as a post processing that applies the orientation data from sensors to a character first, and then keeps monitoring the current character status and applying foot skating solver next whenever the problem occurs. For this, we propose an adaptive threshold method that make positional and velocity threshold change automatically. Inter-frame smoothing is then followed to make sure there is no discontinuity on the motions.