Accurate and stable alignment of virtual and real spaces using consumer-grade trackers

Abstract

The world space defined by a traditional virtual reality application is generally regarded as separate from the real-world space in which users actually exist. In this paper, we present a method that enables such detached spaces to connect in an integrated space. In particular, we show that by using a specially manufactured calibration board and three consumer-grade position tracking devices, a reference coordinate system can easily be set up in the physical space, whose geometric relationship with the virtual reality space is estimated with high numerical accuracy and stability. Then, we demonstrate that, combined with traditional computer vision techniques for marker tracking, the presented technique allows colocated users from virtual, augmented, and mixed realities to cooperate with each other while making effective use of technologies from other realities.