Application and Evaluation of Lighthouse Technology for Precision Motion Capture

This thesis presents the development towards a system that can capture and quantify motion for applications in biomechanical and medical fields demanding precision motion tracking using the lighthouse technology. Commercially known as SteamVR tracking, the lighthouse technology is a motion tracking system developed for virtual reality applications that makes use of patterned infrared light sources to highlight trackers (objects embedded with photodiodes) to obtain their pose or spatial position and orientation. Current motion capture systems such as the camera-based motion capture are expensive and not readily available outside of research labs. This thesis provides a case for low-cost motion capture systems. The technology is applied to quantify motion to draw inferences about biomechanics capture and analysis, quantification of gait, and prosthetic alignment. Possible shortcomings for data acquisition using this system for the stated applications have been addressed. The repeatability of the system has been established by determining the standard deviation error for multiple trials based on a motion trajectory using a seven degree-of-freedom robot arm. The accuracy testing for the system is based on cross-validation between the lighthouse technology data and transformations derived using joint angles by developing a forward kinematics model for the robot’s end-effector pose. The underlying principle for motion capture using this system is that multiple trackers placed on limb segments allow to record the position and orientation of the segments in relation to a set global frame. Joint angles between the segments can then be calculated from the recorded positions and orientations of each tracker using inverse kinematics. In this work, inverse kinematics for rigid bodies was based on calculating homogeneous transforms to the individual trackers in the model’s reference frame to find the respective Euler angles as well as using the analytical approach to solve for joint variables in terms of known geometric parameters. This work was carried out on a phantom prosthetic limb. A custom application-specific motion tracker was also developed using a hardware development kit which would be further optimized for subsequent studies involving biomechanics motion capture

Measuring motion-to-photon latency for sensorimotor experiments with virtual reality systems

Consumer virtual reality (VR) systems are increasingly being deployed in research to study sensorimotor behaviors, but properties of such systems require verification before being used as scientific tools. The ‘motion-to-photon’ latency (the lag between a user making a movement and the movement being displayed within the display) is a particularly important metric as temporal delays can degrade sensorimotor performance. Extant approaches to quantifying this measure have involved the use of bespoke software and hardware and produce a single measure of latency and ignore the effect of the motion prediction algorithms used in modern VR systems. This reduces confidence in the generalizability of the results. We developed a novel, system-independent, high-speed camera-based latency measurement technique to co-register real and virtual controller movements, allowing assessment of how latencies change through a movement. We applied this technique to measure the motion-to-photon latency of controller movements in the HTC Vive, Oculus Rift, Oculus Rift S, and Valve Index, using the Unity game engine and SteamVR. For the start of a sudden movement, all measured headsets had mean latencies between 21 and 42 ms. Once motion prediction could account for the inherent delays, the latency was functionally reduced to 2–13 ms, and our technique revealed that this reduction occurs within ~25–58 ms of movement onset. Our findings indicate that sudden accelerations (e.g., movement onset, impacts, and direction changes) will increase latencies and lower spatial accuracy. Our technique allows researchers to measure these factors and determine the impact on their experimental design before collecting sensorimotor data from VR systems

An Improved Method of Pose Estimation for Lighthouse Base Station Extension

In 2015, HTC and Valve launched a virtual reality headset empowered with Lighthouse, the cutting-edge space positioning technology. Although Lighthouse is superior in terms of accuracy, latency and refresh rate, its algorithms do not support base station expansion, and is flawed concerning occlusion in moving targets, that is, it is unable to calculate their poses with a small set of sensors, resulting in the loss of optical tracking data. In view of these problems, this paper proposes an improved pose estimation algorithm for cases where occlusion is involved. Our algorithm calculates the pose of a given object with a unified dataset comprising of inputs from sensors recognized by all base stations, as long as three or more sensors detect a signal in total, no matter from which base station. To verify our algorithm, HTC official base stations and autonomous developed receivers are used for prototyping. The experiment result shows that our pose calculation algorithm can achieve precise positioning when a few sensors detect the signal

An Improved Method of Pose Estimation for Lighthouse Base Station Extension

In 2015, HTC and Valve launched a virtual reality headset empowered with Lighthouse, the cutting-edge space positioning technology. Although Lighthouse is superior in terms of accuracy, latency and refresh rate, its algorithms do not support base station expansion, and is flawed concerning occlusion in moving targets, that is, it is unable to calculate their poses with a small set of sensors, resulting in the loss of optical tracking data. In view of these problems, this paper proposes an improved pose estimation algorithm for cases where occlusion is involved. Our algorithm calculates the pose of a given object with a unified dataset comprising of inputs from sensors recognized by all base stations, as long as three or more sensors detect a signal in total, no matter from which base station. To verify our algorithm, HTC official base stations and autonomous developed receivers are used for prototyping. The experiment result shows that our pose calculation algorithm can achieve precise positioning when a few sensors detect the signal