Dynamic Pose Tracking Performance Evaluation of HTC Vive Virtual Reality System

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.

An Evaluation of Motion Trackers with Virtual Reality Sensor Technology in Comparison to a Marker-Based Motion Capture System Based on Joint Angles for Ergonomic Risk Assessment

“…Although care was taken to ensure that the systems were not in direct line of sight of each other, inference cannot be ruled out. A similar observation was also seen in [ 18 ]. Therefore, we think that fewer tracking errors will occur if only the Vive system is used and suggest other tracking methods for further studies (e.g., IMU based systems/XSENS).…”

“…This observation is also reflected in the accuracy of the angles for the head and neck, which were measured directly with the HMD. The observation that a higher accuracy (on positions basis) can be achieved with the HMD than with the controller and tracker was also observed in [ 18 ]. This could be due to the higher number of position sensors implemented in the HMD compared to the controller and tracker.…”

“…The authors concluded that quantifying joint angles is possible. In [ 18 ] the spatial tracking performances of all three Vive components (HMD, controller and tracker) were evaluated by a series of adapted standardized tests from the American Society for Testing and Materials international. The determined accuracy in static cases were given with average errors of of 3 mm and 0.5 .…”

MS-Faster R-CNN: Multi-Stream Backbone for Improved Faster R-CNN Object Detection and Aerial Tracking from UAV Images

“…In recent years, Computer Vision has been involved in several, heterogeneous tasks which include rehabilitation [1][2][3][4][5], virtual/augmented reality [6][7][8][9][10], deception detection [11][12][13][14], robotics [15][16][17][18][19], and much more. Focusing on the latter, one of the most prominent applications involves the usage of drones (hereinafter, UAVs).…”

Robustness and static-positional accuracy of the SteamVR 1.0 virtual reality tracking system

“…However, in later years, the general development of gaming platforms has cut the costs of IVR systems and devices, from 100 k USD-or more-to less than 1 k USD. Among them, the HTC VIVE system represents the most widely used commercial solution for consumer VR applications, due to its better tracking performance (Ikbal et al 2021).…”