Autonomous Robots

, Volume 30, Issue 1, pp 87–98 | Cite as

Human motion database with a binary tree and node transition graphs

  • Katsu YamaneEmail author
  • Yoshifumi Yamaguchi
  • Yoshihiko Nakamura


Database of human motion has been widely used for recognizing human motion and synthesizing humanoid motions. In this paper, we propose a data structure for storing and extracting human motion data and demonstrate that the database can be applied to the recognition and motion synthesis problems in robotics. We develop an efficient method for building a human motion database from a collection of continuous, multi-dimensional motion clips. The database consists of a binary tree representing the hierarchical clustering of the states observed in the motion clips, as well as node transition graphs representing the possible transitions among the nodes in the binary tree. Using databases constructed from real human motion data, we demonstrate that the proposed data structure can be used for human motion recognition, state estimation and prediction, and robot motion planning.


Motion database Binary tree Human motion recognition Humanoid motion planning 


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Copyright information

© Springer Science+Business Media, LLC 2010

Authors and Affiliations

  • Katsu Yamane
    • 1
    Email author
  • Yoshifumi Yamaguchi
    • 2
    • 3
  • Yoshihiko Nakamura
    • 2
  1. 1.Disney ResearchPittsburghUSA
  2. 2.Dept. of Mechano-InformaticsUniversity of TokyoTokyoJapan
  3. 3.Oracle Corporation JapanTokyoJapan

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