Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints

In telepresence, it is critical for the local user to control the remote agent’s movement through his own locomotion in order to ensure a high degree of realism. Since the local user’s environment is normally different from that of the remote agent, there exists a motion mapping from the remote agent to the local user. After the path of the remote agent is predicted or recognized, it should be transformed to fit into the local environment, considering the constraints from the local environment, and ensuring utmost similarities in the shape and length of the paths. Moreover, terminal position of the local user in the local environment after a piece of known movement should also be carefully arranged after path transformation for his consecutive motions. These issues are incrementally addressed from the optimization point of view. Two schemes are proposed for path transformation problem. Extensive simulations and comparisons show the feasibility and effectiveness of the proposed approaches.