PS Move API: A Cross-Platform 6DoF Tracking Framework

With the introduction of 6DoF motion controllers for game consoles,low cost hardware for 3D interaction became widely available.However, no fully-featured software solution for 6DoF trackingexists that takes advantage of the PlayStation (PS) Move MotionController without additional hardware.We designed, developed and evaluated a library - the PS MoveAPI - that enables developers to use the PS Move Motion Controlleras 6DoF input device in combination with a camera. Initially wesolved hardware related problems such as pairing and communicationover USB and Bluetooth. In this paper we describe how weperform visual tracking and sensor fusion, combining visual and inertialdata. Performance results show that multiple controllers canbe tracked simultaneously in real time.Developers using the library can choose between a low-level CAPI or higher-level abstractions in Python, Java, C# or the Processingframework. The library is open source, has been developedand tested on Windows, Mac OS X and Linux, and is releasedunder a Simplified BSD License. It also runs on mobileLinux distributions such as MeeGo 1.2 Harmattan and Android.The full source code is available on the PS Move API website athttp://thp.io/2010/psmove/.