We present a practical framework for registering a Mixed Reality(MR) environment of an arbitrary number of agents. Each agent consist of a head mounted display (HMD), which consists of a pair of stereo cameras. Each agent is assumed to be moving freely in 3D space and multiple HMDs need not have a common Field of View (FoV). We show that the plane at infinity and a common vertical vanishing point can be use to determine the exact orientation of all HMDs with respect to each other, and establish a common reference frame. Our method generalizes previous work which considers restricted camera motions. Using minimal assumptions, we are able to successfully demonstrate promising results on real data.
Imran N. Junejo, Xiaochun Cao, Hassan Foroosh