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Consistent Interpolation

Key Idea 1): Consistent Forward Kinematic Interpolation (FKI) minimizes errors, often below perceptible levels.
Key Idea 2): Consistent FKI depends on good motion correspondence.
Key Idea 3): Consistent FKI allows on-the-fly inverse kinematics correction of slide/penetration violations.

What is Consistency?
It is an attempt to preserve original motion features like limb contacts and joint angular maxima/minima. By matching motions before blending them, violations like motion-slides and penetrations are minimized, short-comings that are otherwise inherent in forward kinematic interpolation (FKI).

Sliding is minimal in green skeleton, and not noticable in the support foot. This is quite a significant achievement of MAFI, because neighboring cycles of this wild motion are quite different!! The red skeleton's animation is the result of a simple average of neighboring cycles which leads to full blown sliding artifacts associated with inconsistent FKI.

Green skeleton: Consistent MAFI cyclification without IK
Red skeleton: Inconsistent joint interpolation
Black skeleton: Original motion

A Comparitive Example

Inconsistent Blending

Consistent Blending

Constrained Consistent Blending

The above animations show comparitive blending between four motions: walking, dancing, punching and kicking. The left animation is an unwarped, uncorresponded average leading to large slips, which cannot possibly be corrected with per-frame inverse kinematics. The middle animation shows how significantly these slides have been minimized by virtue of consistent forward kinematic interpolation. The right animation shows the result of per-frame IK correction after every blend operation.