Date post: | 11-Apr-2017 |
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DESIGNING TRACKEDDOUG BRUEY | MICHAEL CIUFFO
OBJECTS FOR
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■ Product development for the world’s leading companies
■ 150+ multi-disciplinary engineers■ Cambridge Consultants
• Global parent company• 500+ Engineers and innovators
SYNAPSE
SEATTLESAN FRANCISCO
ORLANDOBOSTON
NEW DELHI
CAMBRIDGE
HONG KONG
SINGAPORE
TOKYO
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Valve is an entertainment software and technology company founded in 1996. In addition to creating several of the world's most award-winning games, Valve is also a developer of leading-edge technologies including the Source® game engine and Steam®, the premier online gaming platform.
OCT 2014 Synapse started working with Valve on their vr system
HISTORY
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JUNE 2015Developer release of the base stations
APRIL 2016HTC Vive released
AUG 2016Valve announces royalty free licensing of SteamVR™ tracking
SEPT 2016SteamVR™ tracking reference design released
2017Develop firmware and assist partners integrating SteamVR™ tracking into their products
SEPT 2016 - TODAYSteamVR™ tracking training courses at synapse
• What is SteamVR™ Tracking?
• The problem it solves in VR and AR applications
• How it works to track the pose of an object
• How to make objects that track well using the technology
• How to get started using the technology
• Answer as many questions and possible
WE’LL COVER
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YAW
ORIENTATION
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ROLL
PITCH
POSE TRACKING
Z-Axis
z
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X-Axis
Y-Axis
x
POINT(x,y,z)
y
POSITIONPOSE TRACKING
STATE OF THE ART
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IMUs (Inertial Measurement Units)■ Gyroscopes and
accelerometers track orientation
External Cameras (Pose Tracking)
Internal Cameras (Inside-out Pose Tracking)■ Popular in AR■ Depth Perception &
Room Mapping
SteamVR™ Tracking(Pose Tracking)
STEAMVR™ TRACKING
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■ Room scale■ Security/privacy■ Low latency & bandwidth■ Absolute position■ Eliminates challenges of camera-based tracking■ Track to submillimeter accuracy
STEAMVR™ TRACKING SYSTEM OVERVIEW
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BASE STATION
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TRACKED OBJECTS
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■ Reduces shadows■ Requires synchronization
MULTIPLE BASE STATIONS
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REFERENCE SIGNALING
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■ Optical receivers detect the reference signals from the base station■ Photodiode converts IR light to current■ Transimpedance amplifier converts current to voltage■ Envelope detector removes the modulation frequency■ FPGA connects to all sensors to timestamp the arrival of reference signals
OPTICAL RECEIVERS
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TRIANGULATION
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■ The angle to all sensors creates a solution set for the position of the object■ SteamVR™ matches the measured angles to the known object geometry■ There must only be one solution to the problem!
SOLVING THE SYSTEM
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SOLVING THE SYSTEM
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DEMO
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ONE TO FOUR SENSORS
■ Reference signal jitter• Motor jitter• Timestamp quantization• Laser modulation
■ Minimized by design• Base station design• Object design
■ Sources of error place requirements on object design
SOURCES OF ERROR
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■ Baseline increases the time between laser hits■ Sources of error are angular■ The limit of the system is a minimum detectable angle■ More baseline accommodates the same angle at a greater distance■ Need baseline to overcome translation error
CONSEQUENCES OF ERROR | TRANSLATION ERROR
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■ Baseline increases the time between laser hits■ Sources of error are angular■ The limit of the system is a minimum detectable angle■ More baseline accommodates the same angle at a greater distance■ Need baseline to overcome translation error
OVERCOMING TRANSLATION ERROR | SUFFICIENT BASELINE
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■ Rotation orthogonal to a plane yields significant displacement■ Rotation in the plane yields much smaller displacement per degree rotation■ Error dominates the small change in distance
CONSEQUENCES OF ERROR | ROTATION ERROR
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■ Baseline amplifies the effect of rotation■ Pose tracking detects
• Roll• Pitch• Yaw
■ Detecting all three means amplifying all three■ Need baseline in X, Y and Z axes to overcome rotation error
OVERCOMING ROTATION ERROR | BASELINE IN 3 AXES
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■ Four visible sensors (minimum)■ Maximize the distance between sensors■ Maximize baseline in three axes
TRACKING PERFORMANCE DRIVERS
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dx
zy2
■BPW 34 S has a ±60° field of view from normal
■At 60°, the sensitivity is 50% of 0° sensitivity
■System is specified for 5 meters at 60° off axis
■Simulation output accounts for the 60° viewing angle limitation
SENSOR FIELD OF VIEW
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DEMO
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VIEWING ANGLE
■ Objects that track well have geometries designed for optimal sensor placement!
■ Simulation lets us verify performance early in the process.
SENSOR PLACEMENT CRITERIA
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X, Y, Z coordinates, facing direction
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±60° from normal Shadows cast by the sensor object
Shadows cast by nearby objects
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DEMO
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HMD DESIGNER VIEWER
NUMBER OF VISIBLE SENSORS
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INITIAL POSE POSSIBLE
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TRANSLATION ERROR
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ROTATION ERROR
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REFINEMENTS | NUMBER OF VISIBLE SENSORS
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REFINEMENTS | POSE ROTATION ERROR
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REFINEMENTS | POSE TRANSLATION ERROR
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DEMO
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HMD DESIGN REFINEMENTS
■ Consumer products need to look and feel great■ Products also need to perform, especially VR products
INDUSTRIAL DESIGN CHALLENGES
MINIATURIZATION
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FLAT SURFACES RIGHT ANGLES LOW PROFILE CURVED SURFACESTranslation error? Translation and rotation error?Sensor viewing angle?Rotation error? Sensor covering?
MECHANICAL DESIGN CHALLENGES
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■ Facets on shapes improve performance• How many slides in the mold?
■ Sensors facing in all directions• Multiple parts to facilitate ejection
■ Sensor interconnect■ FPC design challenge
ELECTRICAL DESIGN CHALLENGES
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RECOMMENDATIONS
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■ Collaborate between engineering and industrial design early in the process
■ Teach industrial designers and product visionaries about sensor placement
■ Use the constraints of sensor placement as a seed for creating unique, compelling designs
■ Reduce risk early• Use the simulation tools in the HDK to validate design choices• Prototype shapes using rapid prototyping techniques and evaluation hardware• See your object track in SteamVR™ before investing in tooling
■ Laser based pose tracking system■ Solves the problem in VR and AR applications■ Tracks the pose of an object through….■ Design objects that track well using the technology
• Four visible sensors (minimum)• Maximize the distance between sensors• Maximize baseline in three axes
■ Use the software to simulate & refine design■ Collaboration between ID, ME, EE, & SW is key to successful design
SUMMARY | STEAMVR™ TRACKING
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NEXT STEPS
partner.steamgames.com/vrtracking
STEAMVR™ TRACKING LICENSE
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STEAMVR™ TRACKING TRAININGsynapse.com/steamvr
HARDWARE DEVELOPMENT KITtriadsemi.com/product/steamvr-tracking-hdk
■ VR Accessories■ AR Products■ Tracking Systems
WHAT ARE YOU GOING TO MAKE?
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The information contained herein is confidential and proprietary and may not be reproduced or distributed without the consent of Synapse Product Development
QUESTIONS?
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