Calibration system and method to align a 3D virtual scene and a 3D real world for a stereoscopic head-mounted display

A method, comprising:

• receiving, by a device, and from a positional tracking device, information that relates to a pose of a three-dimensional real-world object to be aligned with a three-dimensional virtual object;
• performing, by the device, a first operation to display, via an optical see-through head-mounted display device, the three-dimensional virtual object in a display coordinate system corresponding to a three-dimensional display space of the optical see-through head-mounted display device;
• performing, by the device, a second operation to record three-dimensional positions of multiple points on the three-dimensional real-world object in a real-world coordinate system associated with the positional tracking device based on the pose of the three-dimensional real-world object at a time when a calibration input is received;
• repeating, by the device, the first operation and the second operation until a recorded quantity of the three-dimensional positions satisfies a threshold value;
• and
• generating, by the device, a transformation function to provide a mapping between three-dimensional points in the real-world coordinate system and three-dimensional points in the display coordinate system corresponding to the three-dimensional display space of the optical see-through head-mounted display device based on the recorded quantity of the three-dimensional positions.

A non-transitory computer-readable medium storing a set of instructions, the set of instructions comprising:

• one or more instructions that, when executed by one or more processors of a device, cause the device to:
• receive, from a positional tracking device, information that relates to a pose of a three-dimensional real-world object to be aligned with a three-dimensional virtual object;
• perform a first operation to display, via an optical see-through head-mounted display device, the three-dimensional virtual object in a display coordinate system corresponding to a three-dimensional display space of the optical see-through head-mounted display device;
• perform a second operation to record three-dimensional positions of multiple points on the three-dimensional real-world object in a real-world coordinate system associated with the positional tracking device based on the pose of the three-dimensional real-world object at a time when a calibration input is received;
• repeat the first operation and the second operation until a recorded quantity of the three-dimensional positions satisfies a threshold value;
• and
• generate a transformation function to provide a mapping between three-dimensional points in the real-world coordinate system and three-dimensional points in the display coordinate system corresponding to the three-dimensional display space of the optical see-through head-mounted display device based on the recorded quantity of the three-dimensional positions.