University of Louisiana at Lafayette, 537 Cajundome Blvd #239, Lafayette, LA 70506, USA.
IEEE Trans Vis Comput Graph. 2011 Jan;17(1):3-13. doi: 10.1109/TVCG.2010.91.
Several critical limitations exist in the currently available tracking technologies for fully enclosed virtual reality (VR) systems. While several 6DOF tracking projects such as Hedgehog have successfully demonstrated excellent accuracy, precision, and robustness within moderate budgets, these projects still include elements of hardware that can interfere with the user's visual experience. The objective of this project is to design a tracking solution for fully enclosed VR displays that achieves comparable performance to available commercial solutions but without any artifacts that can obscure the user's view. JanusVF is a tracking solution involving a cooperation of both the hardware sensors and the software rendering system. A small, high-resolution camera is worn on the user's head, but faces backward (180 degree rotation about vertical from the user's perspective). After acquisition of the initial state, the VR rendering software draws specific fiducial markers with known size and absolute position inside the VR scene. These virtual markers are only drawn behind the user and in view of the camera. These fiducials are tracked by ARToolkitPlus and integrated by a single-constraint-at-a-time (SCAAT) filter algorithm to update the head pose. Experiments analyzing accuracy, precision, and latency in a six-sided CAVE-like system show performance that is comparable to alternative commercial technologies.
目前可用的全封闭虚拟现实 (VR) 系统跟踪技术存在几个关键限制。虽然几个 6DOF 跟踪项目，如 Hedgehog，已经成功地在适度预算内展示了出色的准确性、精度和鲁棒性，但这些项目仍然包括可能干扰用户视觉体验的硬件元素。本项目的目标是设计一种全封闭 VR 显示器的跟踪解决方案，该解决方案可实现与现有商业解决方案相当的性能，但不会有任何遮挡用户视线的伪影。JanusVF 是一种跟踪解决方案，涉及硬件传感器和软件渲染系统的协作。一个小的高分辨率摄像头戴在用户的头上，但朝后（从用户的角度看，垂直方向旋转 180 度）。在获取初始状态后，VR 渲染软件会在 VR 场景中绘制具有已知大小和绝对位置的特定基准标记。这些虚拟标记仅在用户后面并在摄像头的视野中绘制。ARToolkitPlus 跟踪这些基准标记，并通过单次约束一次 (SCAAT) 滤波器算法进行集成，以更新头部姿势。在类似六面 Cave 的系统中分析准确性、精度和延迟的实验表明，其性能可与替代商业技术相媲美。
