Dynamic Pose Tracking Performance Evaluation of HTC Vive Virtual Reality System

Mohamed Sadiq Ikbal,Vishal Ramadoss,Matteo Zoppi

doi:10.1109/access.2020.3047698

Mohamed Sadiq Ikbal, Vishal Ramadoss + Show 1 more

Open Access

https://doi.org/10.1109/access.2020.3047698

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Abstract

Virtual reality tracking devices are rapidly becoming the go-to system for cost-effective motion tracking solutions across different communities such as robotics, biomechanics, sports, rehabilitation, motion simulators, etc. This article focuses on the spatial tracking performance of HTC Vive's lighthouse tracking system (VLTS) devices (tracker, controller, and head mount display). A comprehensive literature survey on the performance analysis of VLTS on the various aspects is presented along with its shortcomings in terms of spatial tracking evaluation. The two key limitations have been identified: in static cases, there is a lack of standard procedures and criteria, and in dynamic cases, the entire study of spatial tracking. We address the first by assessing VLTS using the optical tracking system standard specified by ASTM International, and the latter by revising the standards to determine the upper-velocity limit for reliable tracking. The findings are substantiated with the trajectories of human wrist motion. Each evaluation's results are systematically analyzed with statistical hypothesis tests and criteria fulfillment. Comau NS16, an industrial serial robot, was used as the ground truth motion generator due to its repeatability and 6 degrees of workspace freedom. One of the major reasons for not having more generalized spatial tracking studies is that the tracking performance heavily depends on the configurations of the setup, work volume, environment, etc. Thus, the guidelines for configuring VLTS and the approach adapted from ASTM standards for evaluating VLTS for custom applications using our reported findings for both static and dynamic cases are included in the appendix.

Highlights

Virtual reality (VR) motion tracking devices have been serving as a low-cost motion tracking solutions for both the VR and non-VR application like robotics, scientific research, motion capture, motion simulators, mixed reality video production, medical science, rehabilitation, interactive art, etc., since its market debut in 2016
PRECISION EVALUATION The precision evaluation was conducted as per the methodology mentioned in section III-A, the measure of precision along with the other parameters to access the quality of tracking was computed, and tabulated in the Table 5
The worst deviation of 2.5625 mm at 99.7 percentile further confirms the excellent results obtained with Vive’s lighthouse tracking system (VLTS) on the overall quality of the static spatial tracking precision

Summary

Introduction

Virtual reality (VR) motion tracking devices have been serving as a low-cost motion tracking solutions for both the VR and non-VR application like robotics, scientific research, motion capture, motion simulators, mixed reality video production, medical science, rehabilitation, interactive art, etc., since its market debut in 2016. Each VR consumer product company makes its custom motion tracking systems, such as the VLTS [1], Oculus sensor [2], camera-based, insight tracking [3], etc. The technique most adapted for consumer VR products are outside-in tracking [5] and inside-out tracking [6]. VR’s major issue of portability is solved by inside-out, at the time of writing this article outside-in acts as a gold standard for VR motion tracking due to its better tracking performance [7]. The focus of this article is on the first and most widely used commercial outside-in tracking system, the HTC VIVE’s lighthouse tracking system

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