J. Lopez, E. Pettré, F. Marchand, and . Chaumette, Eurographics 2019 Proceeding), vol.38, pp.181-192, 2019.

, Attracted by light: vision-based steering virtual characters among dark and light obstacles

A. Lopez, J. Pettré, E. Marchand, F. Chaumette-;-junghyun-ahn, and S. Gobron, Long term real trajectory reuse through region goal satisfaction, ACM Motion, Interaction and Games (MIG '19), pp.412-423, 2011.

G. Arechavaleta, J. Laumond, H. Hicheur, and A. Berthoz, An optimality principle governing human walking, IEEE Transactions on Robotics, vol.24, issue.1, pp.5-14, 2008.
URL : https://hal.archives-ouvertes.fr/tel-00260990

D. E. Angelaki, Eyes on target: What neurons must do for the vestibuloocular reflex during linear motion, Journal of Neurophysiology, vol.92, issue.1, pp.20-35, 2004.

S. Ali, K. Nishino, D. Manocha, and M. Shah, Modeling, simulation and visual analysis of crowds: a multidisciplinary perspective. In Modeling, simulation and visual analysis of crowds, pp.1-19, 2013.

J. Ahn, N. Wang, D. Thalmann, and R. Boulic, Within-crowd immersive evaluation of collision avoidance behaviors, Proceedings of the 11th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry, VRCAI '12, pp.231-238, 2012.

P. Baerlocher and R. Boulic, An inverse kinematics architecture enforcing an arbitrary number of strict priority levels. The Visual Computer, vol.20, pp.402-417, 2004.

T. Brox, A. Bruhn, N. Papenberg, and J. Weickert, High accuracy optical flow estimation based on a theory for warping, Tomás Pajdla and Ji?í Matas, pp.25-36, 2004.

A. Bruderlin and T. W. Calvert, Goal-directed, dynamic animation of human walking, SIGGRAPH Comput. Graph, vol.23, issue.3, pp.233-242, 1989.

C. Braillon, C. Pradalier, J. L. Crowley, and C. Laugier, Real-time moving obstacle detection using optical flow models, IEEE Intelligent Vehicles Symposium, pp.466-471, 2006.
URL : https://hal.archives-ouvertes.fr/inria-00182027

R. Boulic, N. Magnenat-thalmann, and D. Thalmann, A global human walking model with real-time kinematic personification, The Visual Computer, vol.6, issue.6, pp.344-358, 1990.

A. Crétual and F. Chaumette, Visual servoing based on image motion, The International Journal of Robotics Research, vol.20, issue.11, pp.857-877, 2001.

F. Chaumette and S. Hutchinson, Visual servo control. i. basic approaches, IEEE Robotics Automation Magazine, vol.13, issue.4, pp.82-90, 2006.
URL : https://hal.archives-ouvertes.fr/inria-00350638

J. Chestnutt, M. Lau, G. Cheung, J. Kuffner, J. Hodgins et al., Footstep planning for the honda asimo humanoid, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.629-634, 2005.

M. G. Choi, J. Lee, and S. Y. Shin, Planning biped locomotion using motion capture data and probabilistic roadmaps, ACM Trans. Graph, vol.22, issue.2, pp.182-203, 2003.

N. Courty, E. Marchand, and B. Arnaldi, A new application for saliency maps: synthetic vision of autonomous actors, Proceedings 2003 International Conference on Image Processing, vol.3, 2003.

D. C. Duives, W. Daamen, and S. P. Hoogendoorn, Stateof-the-art crowd motion simulation models, Transportation Research Part C: Emerging Technologies, vol.37, pp.193-209, 2013.

T. B. Dutra, R. Marques, J. B. Cavalcante-neto, C. A. Vidal, and J. Pettré, Gradient-based steering for vision-based crowd simulation algorithms, Computer Graphics Forum, vol.36, issue.2, pp.337-348, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01653590

C. Esteves, G. Arechavaleta, J. Pettré, and J. Laumond, Animation planning for virtual characters cooperation, ACM Trans. Graph, vol.25, issue.2, pp.319-339, 2006.
URL : https://hal.archives-ouvertes.fr/inria-00473300

E. Laurent-najman, E. Bouvier, and . Cohen, From crowd simulation to airbag deployment: particle systems, a new paradigm of simulation, Journal of Electronic Imaging, vol.6, pp.6-6, 1997.

G. Farnebäck, Two-frame motion estimation based on polynomial expansion, Image Analysis, pp.363-370, 2003.

A. Fernández-caballero, J. C. Castillo, J. Martínez-cantos, and R. Martínez-tomás, Optical flow or image subtraction in human detection from infrared camera on mobile robot, Robotics and Autonomous Systems, vol.58, issue.12, pp.1273-1281, 2010.

P. F. Felzenszwalb and D. P. Huttenlocher, Efficient graphbased image segmentation, International Journal of Computer Vision, vol.59, issue.2, pp.167-181, 2004.

N. Brett-r-fajen and . Kim, Perceiving curvilinear heading in the presence of moving objects, Journal of Experimental Psychology: Human Perception and Performance, vol.28, issue.5, p.1100, 2002.

A. Faragasso, G. Oriolo, A. Paolillo, and M. Vendittelli, Vision-based corridor navigation for humanoid robots, 2013 IEEE International Conference on Robotics and Automation, pp.3190-3195, 2013.

M. Ferro, A. Paolillo, A. Cherubini, and M. Vendittelli, Omnidirectional humanoid navigation in cluttered environments based on optical flow information, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp.75-80, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01424727

V. Grabe, H. H. Bülthoff, and P. Giordano, Robust optical-flow based self-motion estimation for a quadrotor uav, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2153-2159, 2012.

P. Glardon, R. Boulic, and D. Thalmann, Pca-based walking engine using motion capture data, Proceedings Computer Graphics International, pp.292-298, 2004.

J. J. Gibson, The ecological approach to visual perception, 1986.

M. Gérin-lajoie, J. L. Ronsky, B. Loitz-ramage, I. Robu, C. L. Richards et al., Navigational strategies during fast walking: A comparison between trained athletes and non-athletes, Gait & posture, vol.26, issue.4, pp.539-545, 2007.

M. Gérin-lajoie, C. L. Richards, and B. J. Mcfadyen, The negotiation of stationary and moving obstructions during walking: anticipatory locomotor adaptations and preservation of personal space, Motor control, vol.9, issue.3, pp.242-269, 2005.

S. Griffiths, J. Saunders, A. Curtis, B. Barber, T. Mclain et al., Maximizing miniature aerial vehicles, IEEE Robotics Automation Magazine, vol.13, issue.3, pp.34-43, 2006.

F. Heitz and P. Bouthemy, Multimodal estimation of discontinuous optical flow using markov random fields, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.15, issue.12, pp.1217-1232, 1993.
URL : https://hal.archives-ouvertes.fr/inria-00075193

D. Helbing, T. Farkas, and . Vicsek, Simulating dynamical features of escape panic, Nature, vol.407, issue.6803, pp.487-490, 2000.

B. Herissé, T. Hamel, R. Mahony, and F. Russotto, Landing a vtol unmanned aerial vehicle on a moving platform using optical flow, IEEE Transactions on Robotics, vol.28, issue.1, pp.77-89, 2012.

D. Helbing and P. Molnár, Social force model for pedestrian dynamics, Phys. Rev. E, vol.51, pp.4282-4286, 1995.

H. Hicheur, Q. Pham, G. Arechavaleta, J. Laumond, A. Berthoz et al., The formation of trajectories during goal-oriented locomotion in humans. i. a stereotyped behaviour, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.26, pp.3309-3316, 2005.

E. Ilg, N. Mayer, T. Saikia, M. Keuper, A. Dosovitskiy et al., Flownet 2.0: Evolution of optical flow estimation with deep networks, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017.

E. Ju, M. G. Choi, M. Park, J. Lee, S. Kang-hoon-lee et al., Morphable crowds, ACM SIGGRAPH Asia 2010 Papers, SIGGRAPH ASIA '10, vol.140, pp.1-140, 2010.

I. Karamouzas, P. Heil, . Pascal-van-beek, and H. Mark, Overmars. A predictive collision avoidance model for pedestrian simulation, Motion in Games, pp.41-52, 2009.

J. J. Kuffner and J. Latombe, Fast synthetic vision, memory, and learning models for virtual humans, Proceedings Computer Animation 1999, pp.118-127, 1999.

J. James, . Kuffner, and . Steven-m-lavalle, Rrt-connect: an efficient approach to single-query path planning, Proceedings -IEEE International Conference on Robotics and Automation, vol.2, pp.995-1001, 2000.

I. Karamouzas and M. Overmars, Simulating and evaluating the local behavior of small pedestrian groups, IEEE Transactions on Visualization and Computer Graphics, vol.18, issue.3, pp.394-406, 2012.

I. Karamouzas, B. Skinner, and S. J. Guy, Universal power law governing pedestrian interactions, Phys. Rev. Lett, vol.113, p.238701, 2014.

M. Kapadia, S. Singh, W. Hewlett, G. Reinman, and P. Faloutsos, Parallelized egocentric fields for autonomous navigation. The Visual Computer, vol.28, pp.1209-1227, 2012.

M. Kapadia, S. Singh, W. Hewlett, and P. Faloutsos, Egocentric affordance fields in pedestrian steering, Proceedings of the 2009 Symposium on Interactive 3D Graphics and Games, I3D '09, pp.215-223, 2009.

T. Kroeger, R. Timofte, D. Dai, and L. Van-gool, Fast optical flow using dense inverse search, Computer Vision -ECCV 2016, pp.471-488, 2016.

A. Lerner, Y. Chrysanthou, and D. Lischinski, Crowds by example, Computer Graphics Forum, vol.26, issue.3, pp.655-664, 2007.

M. Lau and J. J. Kuffner, Behavior planning for character animation, Proceedings of the 2005 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA '05, pp.271-280, 2005.

B. Lucas, An iterative image registratio technique with an application to stereo vision, Proceedings of 7th International Joint Conference on Artificial Intelligence, pp.674-679, 1981.

M. Moussaïd, D. Helbing, and G. Theraulaz, How simple rules determine pedestrian behavior and crowd disasters, Proceedings of the National Academy of Sciences, vol.108, issue.17, pp.6884-6888, 2011.

R. C. Nelson and J. Aloimonos, Obstacle avoidance using flow field divergence, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.11, issue.10, pp.1102-1106, 1989.

R. Narain, A. Golas, S. Curtis, and M. C. Lin, Aggregate dynamics for dense crowd simulation, ACM SIGGRAPH Asia 2009 Papers, SIGGRAPH Asia '09, vol.122, pp.1-122, 2009.

H. Noser, O. Renault, D. Thalmann, and N. M. Thalmann, Navigation for digital actors based on synthetic vision, memory, and learning, Computers & Graphics, vol.19, issue.1, pp.7-19, 1995.

J. M. Odobez and P. Bouthemy, Detection of multiple moving objects using multiscale mrf with camera motion compensation, Proceedings of 1st International Conference on Image Processing, vol.2, pp.257-261, 1994.

J. Odobez and P. Bouthemy, Direct incremental modelbased image motion segmentation for video analysis. Signal Processing, vol.66, pp.143-155, 1998.

J. Ond?ej, J. Pettré, A. Olivier, and S. Donikian, A synthetic-vision based steering approach for crowd simulation, ACM Trans. Graph, vol.29, issue.4, 2010.

N. Pelechano, J. M. Allbeck, and N. I. Badler, Controlling individual agents in high-density crowd simulation, Proceedings of the 2007 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA '07, pp.99-108, 2007.

J. Pettré, J. Ond?ej, A. Olivier, A. Cretual, and S. Donikian, Experiment-based modeling, simulation and validation of interactions between virtual walkers, Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA '09, pp.189-198, 2009.

S. Paris, J. Pettré, and S. Donikian, Pedestrian reactive navigation for crowd simulation: a predictive approach, Computer Graphics Forum, vol.26, issue.3, pp.665-674, 2007.

E. Aftab, . Patla, S. Sebastian, . Tomescu, . Milad et al., What visual information is used for navigation around obstacles in a cluttered environment?, Canadian journal of physiology and pharmacology, vol.82, issue.8-9, pp.682-692, 2004.

S. Patil, J. Van-den, S. Berg, M. C. Curtis, D. Lin et al., Directing crowd simulations using navigation fields, IEEE Transactions on Visualization and Computer Graphics, vol.17, issue.2, pp.244-254, 2011.

C. W. Reynolds, Flocks, herds and schools: A distributed behavioral model, Proceedings of the 14th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH '87, pp.25-34, 1987.

C. Reynolds, Steering behaviors for autonomous characters, Game Developers Conference, pp.763-782, 1999.

C. S. Royden and E. C. Hildreth, Human heading judgments in the presence of moving objects, Perception & Psychophysics, vol.58, issue.6, pp.836-856, 1996.

F. Raudies and H. Neumann, Modeling heading and path perception from optic flow in the case of independently moving objects, Frontiers in Behavioral Neuroscience, vol.7, p.23, 2013.

O. Renault, N. Magnenat-thalmann, and D. Thalmann, A vision-based approach to behavioural animation, The Journal of Visualization and Computer Animation, vol.1, issue.1, pp.18-21, 1990.

V. Sundareswaran, P. Bouthemy, and F. Chaumette, Exploiting image motion for active vision in a visual servoing framework, Int. J. Rob. Res, vol.15, issue.6, pp.629-645, 1996.

A. Safonova and J. K. Hodgins, Construction and optimal search of interpolated motion graphs, ACM SIGGRAPH 2007 Papers, 2007.

S. Lee and J. Song, Robust mobile robot localization using optical flow sensors and encoders, IEEE International Conference on Robotics and Automation, vol.1, pp.1039-1044, 2004.

K. Souhila and A. Karim, Optical flow based robot obstacle avoidance, International Journal of Advanced Robotic Systems, vol.4, issue.1, 2007.

S. Singh, M. Kapadia, B. Hewlett, G. Reinman, and P. Faloutsos, A modular framework for adaptive agent-based steering, Symposium on Interactive 3D Graphics and Games, I3D '11, pp.141-150, 2011.

A. Silva, W. S. Lages, and L. Chaimowicz, Boids that see: Using self-occlusion for simulating large groups on gpus, Comput. Entertain, vol.7, issue.4, 2010.

W. Shao and D. Terzopoulos, Autonomous pedestrians, Proceedings of the 2005 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA '05, pp.19-28, 2005.

A. Treuille, S. Cooper, and Z. Popovi?, Continuum crowds, ACM SIGGRAPH 2006 Papers, SIGGRAPH '06, pp.1160-1168, 2006.

M. Tistarelli, E. Grosso, and G. Sandini, Dynamic stereo in visual navigation, Proc. IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.186-193, 1991.

D. Terzopoulos and T. F. Rabie, Animat vision: Active vision in artificial animals, Proceedings of IEEE International Conference on Computer Vision, pp.801-808, 1995.

X. Tu and D. Terzopoulos, Artificial fishes: Physics, locomotion, perception, behavior, Proceedings of the 21st Annual Conference on Computer Graphics and Interactive Techniques, SIG-GRAPH '94, pp.43-50, 1994.

J. Van-den, S. J. Berg, M. Guy, D. Lin, and . Manocha, Reciprocal n-body collision avoidance, Robotics Research, pp.3-19, 2011.

J. Van-den, M. Berg, D. Lin, and . Manocha, Reciprocal velocity obstacles for real-time multi-agent navigation, 2008 IEEE Int. Conf. on Robotics and Automation, pp.1928-1935, 2008.

Q. Wu, Q. Ji, J. Du, and X. Li, Simulating the local behavior of small pedestrian groups using synthetic-vision based steering approach, Proceedings of the 12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry, VRCAI '13, pp.41-50, 2013.

W. William, J. Warren, . Kay, . Zosh, S. Ap-duchon et al., Perceiving heading in the presence of moving objects, Nature neuroscience, vol.24, issue.3, pp.213-216, 1995.

H. William, . Warren, . Daniel-r-mestre, W. Arshavir, and . Blackwell,

W. Michael and . Morris, Perception of circular heading from optical flow, Journal of Experimental Psychology: Human Perception and Performance, vol.17, issue.1, p.28, 1991.

P. Weinzaepfel, J. Revaud, Z. Harchaoui, and C. Schmid, Deepflow: Large displacement optical flow with deep matching, The IEEE International Conference on Computer Vision (ICCV), 2013.
URL : https://hal.archives-ouvertes.fr/hal-00873592

C. Zach, T. Pock, and H. Bischof, A duality based approach for realtime tv-l1 optical flow, Pattern Recognition, pp.214-223, 2007.

H. Zhao, X. Qi, X. Shen, J. Shi, and J. Jia, Icnet for real-time semantic segmentation on high-resolution images, 2017.

S. Zingg, D. Scaramuzza, S. Weiss, and R. Siegwart, Mav navigation through indoor corridors using optical flow, 2010 IEEE International Conference on Robotics and Automation, pp.3361-3368, 2010.