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Virtual Reality - Lecture5-TrackingsystemsforVR
Virtual Reality - Lecture5-TrackingsystemsforVR
Virtual Reality - Lecture5-TrackingsystemsforVR
com
Trackers
VR Trackers
VR Trackers
3D trackers in VR
Accuracy / precision
Speed of the reported position
Interfering media
Encumbrance
Cost
http://www.visgraf.impa.br/Projects/mcapture/hotlinks.html
VR Trackers
VR Trackers
Most VR trackers
Describes the position of the object in 3D space
3 parameters, axes (x,y,z)
2 DOF system
Forward backward
Left right
Up - down
X and Y coordinates
Mouse, joystick, drawing tablet etc.
6 DOF system
3 DOF system
Yaw
Pitch
Roll
VR Trackers
www.jntuworld.com
www.jntuworld.com
Trackers
Tracking in VR applications
Users head
Necessary for e.g., HMD
Limbs
Hands
VR Trackers
View control
Locomotion
Object manipulation
The control of an avatar (the virtual body of the user)
VR Trackers
Tracker accuracy
Tracker accuracy
The
Typically
VR Trackers
Tracker jitter
Tracker jitter
The
VR Trackers
www.jntuworld.com
www.jntuworld.com
Tracker latency
VR Trackers
The
effect
Multiplexing effect
VR Trackers
VR Trackers
Registration
VR tracker types
Electromechanical
Electromagnetic
Ultrasonic
Optical, videometric
Inertial
(Neural, eye tracking, others )
Hybrid methods
VR Trackers
VR Trackers
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www.jntuworld.com
Electromechanical trackers
Boom
VR Trackers
VR Trackers
Mechanical trackers in a
motion capture suit
Boom
A
tabletop model
VR Trackers
VR Trackers
Electromechanical trackers
Non-contact trackers
Drawbacks
Limited range
VR Trackers
Electromagnetic trackers
Ultrasound trackers
Optical trackers
Light points, computer vision based, etc.
Accelerometers
Gyroscopes
Etc
VR Trackers
www.jntuworld.com
www.jntuworld.com
Electromagnetic trackers
Electromagnetic tracking
VR Trackers
AC magnetic trackers
SENSOR
TRANSMITTER
DRIVE
ELECTRONICS
SIGNAL
PROCESSING
ELECTRONICS
COMPUTER
AC magnetic tracker
http://polhemus.com/
STAR*TRAK wireless Motion Capture
Pos. 1 in. / receiver
Or. 2 peak / receiver
65,000 (discontinued)
FASTRAK
4ms latency, 120 Hz (1 receiver)
0.03 in., 0.15, 5800
6000
Frequency multiplexed
Three frequencies are used
VR Trackers
Polhemus (AC)
VR Trackers
Electromagnetic tracking
VR Trackers
Polhemus Liberty
Patriot
Latency 17 ms, 60 Hz/sensor
0.1 in., 0.75, 2300
VR Trackers
VR Trackers
www.jntuworld.com
www.jntuworld.com
DC magnetic trackers
Transmitter unit
Pulsed DC
magnetic fields
Always time
multiplexed
DC signals such
as the earths
field must be
measured and
subtracted from
the sensor
outputs
Receiver unit
Energizing coil
VR Trackers
VR Trackers
Ascension (DC)
Ascension
DC magnetic tracker
http://www.ascension-tech.com/
Flock of Birds, pcBIRD, miniBIRD
3D Guidance
3D Navigator
3D-BIRD
SpacePad
VR Trackers
VR Trackers
AC/DC
TRACKERS
COMPARISON
VR Trackers
VR Trackers
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www.jntuworld.com
Electromagnetic trackers
Acoustic tracking
Low-cost
Requires line-of-sight
Error-prone
VR Trackers
VR Trackers
Time-of-flight (TOF)
Sutherland 1968
No pulse, but continuous signal (~50 kHz)
Many transmitters on different frequencies
Sent and received signal phase differences give continuously the
change in distance, no latency
Only relative distance, cumulative & multi-path errors possible
VR Trackers
VR Trackers
Ultrasound trackers
Ultrasound trackers
9 distances total
VR Trackers
VR Trackers
www.jntuworld.com
www.jntuworld.com
Extended
range
Optical trackers
Certain applications
require larger user
motion volume than a
transmitter can cover
Several transmitters
multiplexed with one
receiver
Only one transmitter
works at a time
The computer
switches the
transmitters
Sensing component
CCD or CMOS camera
Photodiode
Photosensor
VR Trackers
VR Trackers
Optical tracking
Optical trackers
Outside-looking-in
Light sensors or cameras surrounding the tracked
object observe it
Sensing component(s) fixed
Some markers or light beacons are typically
placed on the user
Passive reflectors or fiducial markers
Not always robust identification of markers
Outside-in
VR Trackers
Inside-out
Vision-based tracking
VR Trackers
Camera tracking
VR Trackers
VR Trackers
www.jntuworld.com
www.jntuworld.com
Videometric tracking
Videometric tracking
Inside-looking-out
Video camera on the tracked object
The camera watches surroundings
VR system analyzes images
Reference points
VR Trackers
Videometric tracking
Usage
of LED lights
sensitive cameras
Activating the lights
as patterns
VR Trackers
HiBall
Infrared
Minicamera HiBall
VR Trackers
VR Trackers
Ascension LaserBird 2
WorldViz PPT
Hy-BIRD
LaserBird
VR Trackers
VR Trackers
www.jntuworld.com
www.jntuworld.com
Shadowtrack
http://www.abs-tech.com/produto.php?id_produto=357
VR Trackers
VR Trackers
Motion Capture
Nintendo Wii
A game-changer in gaming markets
Usually humans
The 3D recording & 3D representation of a
live performance
http://www.chrisharrison.net/projects/headtracking/index.html
VR Trackers
VR Trackers
MoCap
MoCap Devices
Vicon/Oxford metrics
Motion Analysis
Ascension MotionStar / Wireless
Ascension ReActor 2
Active IR LEDs
900 Hz / nr of LEDs
Sensor bars
~3x3x3 m, 5 sensors each
No cameras to calibrate
80,000
VR Trackers
VR Trackers
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NaturalPoint OptiTrack
IR-cameras,
Real-time
markers,
software
Up to 24 cameras
www.vicon.com
A low-cost solution
$800, Foundation package $5000
http://www.naturalpoint.com/optitrack/
VR Trackers
VR Trackers
Animazoo
Electromagnetic MoCap
IGS-190
Gypsy-6
GypsyGyro-18
Exoskeleton tracker
Gypsy 5
Gypsy Torso
GypsyMidi (hands)
Optical Hybrid
http://www.animazoo.com/
Animazoo animates avatars in Second life
VR Trackers
VR Trackers
Motion analysis
Optical tracking
10 persons real-time
http://www.motionanalysis.com/
Northern Digital
Mikromak
noDNA
Xsens trackers
Miniature inertial motion sensors, biomechanical models
and sensor fusion algorithms
http://www.xsens.com/
MVN full-body motion capture
MTi, MTx sensors
http://www.character-shop.com/waldo.html
http://www.x-ist.de/
Peak performance
Crossbow Technology
http://www.qualisys.com
www.organicmotion.com
Medical tracking
http://www.ndigital.com/
http://www.peakperform.com
VR Trackers
VR Trackers
www.jntuworld.com
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www.jntuworld.com
Inertial trackers
Inertial trackers
Inclinometer
Measures inclination, level position
Like carpenters level, but giving electrical signal
Accelerometers
Measure acceleration
Can be used to determine object position, if the starting
point is known
Gyroscopes
Fairly inexpensive
Integrated into Apple iPhone and many other smartphones
VR Trackers
VR Trackers
Inertial trackers
VR Trackers
VR Trackers
Intersense
Camera systems
Low-cost, no extra hardware
Process an image every 1/30 s, or preferably more
May ultimately dominate motion-sensing technology
InertiaCube 3
orientation, inertial sensors
2000 , wireless 3000
http://www.engadget.com/2009/07/22/toshiba-tg01-gets-third-partymotion-sensor-attachment-for-large/
InterTrax2
IS-900
discontinued
6 DOF, inertial sensors + ultrasound
Very accurate and fast
9 - 43,000
IS-1200
For mobile augmented reality
InertiaCam looks for fiducials
Supports over 30,000 fiducials
full building tracking coverage
VR Trackers
VR Trackers
www.jntuworld.com
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Hybrid trackers
E.g., IS-900
Computational process
Effectively increase precision while reducing latency
Analyzing the motion
Predicting the location
Calibration
VR Trackers
VR Trackers
Indoor tracking
VR Trackers
Dozens of systems
C.f., robotics, measurement technology, etc.
Bluetooth, WLAN,
Also VR tracking methods & many others
Compass
Data gloves for hand tracking
Shape Sensor, www.measurand.com/
Smart materials
Other systems for various purposes and
environments
http://science.nasa.gov/headlines/y2001/ast01mar_1.htm?list150223
Neural tracking
Loran, Decca,
A-GPS
VR Trackers
Etc
VR Trackers
EMG, EOG
Emotiv Systems Inc.
NeuroSky Inc.
VR Trackers
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Eye tracking
Eye Tracking
Optical tracking
HiRes camera-based
Infrared lighting
VR Trackers
Eye trackers
ASL, http://www.a-s-l.com/
VR Trackers
Eye Trackers
http://www.cs.uta.fi/research/hci/gaze/
http://www.cogain.org/eyetrackers/
VR Trackers
VR Trackers
www.jntuworld.com
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