Inside Out Positional Tracking (6DoF) for GearVR/Cardboard/Daydream using ARCore v1.6.0
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Inside Out Positional Head Tracking (standalone 6DoF) for GearVR/Cardboard/Daydream using ARCore v1.6.0

ARCore v1.6.0 enabled Inside Out Positional Tracking (six degrees of freedom) for all ARCore capable devices.

Introducing Remarks:

  - WARNING YOU MIGHT GET SICK: The positional tracking via the camera leads to small movements even 
  when standing still or moving slowly. When using the cardboard version without a daydream ready phone
  the tracking is noticeably worse. If possible use a GearVR or Daydream capable device.  
  - Fast movements, featureless and poorly lit areas can affect the quality of tracking severely. When the 
  app starts up it takes 3-5 seconds for ARCore to detect a plain at this stage it is best to stay still.   
  - Your phone might get hot very quickly. Make sure to end the game after using. The Daydream/Chardboard 
  version seems to stay on even if the phone gets very hot while the GearVR version turns itself off if the 
  phone gets to hot. Therefore Daydream/Cardboard users should make sure to end the app after use.
  - This project can give you a good taste for the capabilities of the HTC Vive Focus and the 
  Daydream powered Lenovo Mirage Solo. Both devices are very pricy and not available everywhere yet. 
  Because they use dedicated hardware they can offer better performance and quality tracking. The Oculus 
  Santa Cruz/Quest which is expected for early 2019 will also offer 6DoF tracking and feature two 6DoF 
  tracked hand controllers which should make it a highly desirable device. 

Software Description:

++ WhiteIsland and BoxyRoomChardboard are working Unity projects you can use to build your own app with positional tracking enabled. The WhiteIsland project is meant for GearVR and the BoxyRoomChardboard project is meant for Cardboard/Daydream devices. The WhiteIsland project uses the latest improvements, and should be your first choice. The BoxyRoomChardboard project still has some bugs and desperatly needs some updates.

++ VikingVillage is a unity project where a Seurat generated mesh was imported. Attention: Some bigger folders are compressed and need to be unzipped bevore starting the project.

++ MovingMarkerTracking is a Unity project using Vuforia Vusion which combines ARCore and Vuforias advanced marker tracking. This combination allows for 6DOF hand interactions in a limited area in front of the camera.

++ WhiteIsland.apk is an optimised positional tracking app for GearVR which should run smoothly on all devices even the S7. Use the controller touchpad to fly forward in viewing direction and the trigger button (press half a second and relese quickly) to enable/disable visualisation of real world boundaries. Press the touchped on the GearVR headset to recenter view when you experience a missalignement between real and virtual movement (This feature was introduced in the latest updates.).

++ BoxyRoomCardboard.apk is build for Google Cardboard and Daydream ready devices. The app should run on every smartphone with Android 7.0 but positional tracking also needs ARCore which is only supported by some newer smartphones. Check out if your device supports ARCore ( and install ARCore before you install the .apk file. Lauren Weinstein published a possible solution to get a free camera view when using the daydream headset whitout drilling holes in the cover. Some phones with the camera close to the edge can be moved slighly outward after first putting them in the center of the daydream headset.

++ vikingVillage.apk is a 6DoF GearVR app in an environment which was captured with the Seurat tool. This tool allows for the capture of a (small) area of an ultra high-quality environments and allows for free movement in this captured area.

++ VikingVillageCardboard.apk is the Daydream/Cardboard version of the Seurat experience. No signing needed just install ARcore and the .apk file.

++ VikingVillageForOculusGO.apk The Oculus GO has no camera so there is no head tracking possible, but because Seurat could be interesting for Go users as well I added controller support and Go users can now fly through the scene by pressing the touchpad. (Should work on GO devices but I haven't tested it myself. Let me know if it doesn't work.)

Installation options:

Daydream and Cardboard Versions:

Works best with daydream ready phones but It also works with all other phone who support ARCore but quality depends on the phone sensors which are generally better in Daydream ready phones. Just download the BoxyRoomCardboard.apk or the VikingVillageCardboard.apk (Seurat) and install. Also install Google ARCore from the Play Store.

Video showing BoxyRoomCardboard.apk in action.

GearVR Versions (apps need to be signed first):

Installing on GearVR requires the app to be signed first. Since the current GearVR version is better than the Daydream version the few extra steps to sign it are worth it.

Signing the .apk file:

First. Download the WhiteIsland.apk. or the vikingVillage.apk.

Second. The quickest option I found is to sign the apk using the free 'Injector for GearVR' app: Just safe the .apk file on your phone, use the Injector app to sign it and install. Make sure the app you wanna sign and install is not already installed on your phone because in my case this prevents the app from installing.

If the Injector app doesn't work for you try this alternative: Find out your device ID With the .apk file and the device ID you can sign the apk yourself. How you can sign the apk is explained in this Youtube video I recommend the option where you download the addosig.bat program to sign the apk. You can either follow the link under the Youtube page or download the Add file containing the addosig.bat program directly from this repository.

Video showing WhiteIsland.apk 6DoF GearVR version.

Video showing VikingVillage (Seurat) 6DoF GearVR version.

TODO's and future work:

MovingMarkerTracking is a version using the Vuforia Fusion Unity plugin ( to combine the power of ARCore and Vuforia marker tracking. I do not realy like the Vuforia Fusion Unity plugin since some settings are still very confusing and I miss some of the usfull settings I know from ARCore. So far i was not able to combine the marker tracking with my other projects. This either needs some more thinking or is not possible at this stage. So enought work to do on this front.

ALVR might profit from some good head tracking. Check out the project if you haven't heard about it. They already have an open issue dealing with this topic:

The tracking could be more stable regarding the issue with the low frame rates (30fps) of the ARCamera (on Samsung phones). My latest updates almost fixes the problem completely by making it less noticeable through smoothing the camera movement by the SmoothDamp method. The issue with low frame rates was shortly discussed in the ARCore developer forum here: ( and here: ( but it is unclear if Google is working on improving this issue.

I am currently looking into implementing hand tracking using software from Manomotion ( since the latest version supports ARCore this should be possible. Unfortenatly the performance requirements are very high preventing it from beeing used for VR applications. Moving marker tracking looks like it could work better since the software is more optemized. Also detecting skinn coulour and therby the hands seems to be complicated and doesnt work very well right now.

uSenseAR ( is also trying to get hand tracking via the smartphone camera to work I try to get access to the software as well but had no luck so far.

In the future ARCore might get moving marker tracking like ARKit2 and Vuforia are already able to. See here for ARKit2 marker tracking ( and see my MovingMarkerTracking project if you are interested in a working version for Android.

A multiplayer VR game using ARCores cloud ancors should be possible but I am currently not working on it. Here is how it could look like.

The boundery system should be further improved the feature points alone are a good start but it could be better and be activated automatically.

Other Interesting Projects:

The iconic shooter game Quake can now be played using the GearVR with the option of using positional tracking. A good introduction video can be found here: The game and sourcecode can be downloaded here: After signing the .apk you can use the GearVR controller to activate the positional tracking mode in the game settings. I am very impressed with the performance and tracking quality even on old phones like the S7. The developer didn't use a game engine like Unity to build the game but instead used the Android Studio which seemed to allow him to get a higher performance out of the phone by putting some tasks on different cores. I like the way he managed to give the user a window to the outside by tapping the headset but I think it is better to show the surrounding automatically when you come closer to an obstacle since you might forget to check the surrounding when you immersed in the game (I will start working on this soon since I have an idea already). I think this is excellent work and you should defenetly check it out.

iPhone + ARKit + Cardboard project can be found here:

Fast Travel Games also experimented with ARCore and GearVR. They put some serious thought in solving many of the little issues but the code they use seems not to be public.

Using Google Tango: Tango is only available on the Asus Zenfone AR and has better room tracking abilities than ARCore. Useful links here: and here:

Cardboard AR (HoloKit): They used Tango but ARCore should work as well.

Kinect + GearVR seems be suited to bring full body movement to the GearVR: Since Kinect and Leap Motion sensors are quite cheap combining this and ARCore head tracking could result in a cheap emersive VR experience.

How to Seurat:

What is Seurat? Read the introduction here: In short it can capture a high-quality scene and make it run on a mobile device. The catch only a predefined area looks sharp and correct. In this experience it is a 2x3 meter box between the wooden gate and the stone bridge. This means if you try to cross the bridge you will see holes in the textures and distorted meshes. This is the limitation of this technique but the area can be made bigger. I am not sure how big the area can get I will try that later for now enjoy the limited area between bridge and wooden gate. ;) Here you can learn how to capture a high quality scene: Please watch this video if you are interested in how the scene was captured.

You will need to download this project ( for the pipeline to transform the captured data. See the reddit post for more details. Here you can learn how to bring the captured scene in your unity project:

Trouble Shooting:

If you loose tracking and the virtual and real world movement doesn't line up correctly press the touchped on your GearVR controller or the touchped on the side of your GearVR to realign the view. If using the daydream versions there is no convenient solution yet and you need to restart the whole app I am working on a solution to make it easier or automatic. If you move slowly you can also avoid the the missalinement issue on Daydream devices.

If the positional tracking does not work, please make sure you installed the right ARCore App (ARCore 1.2 or higher).

Sometimes the ARCore App seems to crash in the background stoping the positional tracking from working (in my case even the regular Camera freezes) restart the phone to fix this issue.

If you experience very low frames and bad jittering please restart the phone and try again sometimes the phone does things in the background that hurt performance. The app should run smoothly at 60fps.

Everything here was tested on the S7 if you have problems getting it to work please open a new issue and let me know.


I want to give credit to the following developers who published useful informations I used in building this project:

Support this Project:

If you like this work and you want to support the development of free software, please consider a donation via Bitcoin. Bitcoin wallet address: 15aaSbgsZzwP3mrAGdZm7yvuZbu62f6JY4

Detailed Implementation Information :

Following some of the steps which where required for this project. Those steps might not be compleate or up to date.

1.) Import the arcore-unity-sdk-v1.3.0.unitypackage into Unity like outlined here:

     - Try out the HalloAR app before you continue!

2.) Download the "Oculus Utilities for Unity" here:

3.) Install the ARCore App on your phone via the Play Store.

4.) Find out your Device ID

5.) Generate an osig file which you need for your app to run on your GearVr

6.) Place the osig file under Assets -> Plugins -> Android -> assets. If those folders don't exist add them yourself.

7.) Under Build Settings -> Player Settings -> XR Settings check Virtual Reality Supported and choose Oculus via the plus symbol.

8.) Remove "Canvas", "ExampleController", "PointCloud", "Environmental Light" and "EventSystem" from the Hierarchy in Unity so you are left with "ARCore Device" and "Directional light"

9.) Click on "First Person Camera" under "ARCore Device". Click the "add Component" button and add "OVR Camera Rig" and "OVR Manager" to the "First Person Camera"

10.) Add a cube and bring it close to the camera.

11.) Build and Run. You should now see the cube and the camera feed in the background. Inside out positional tracking is active after a few seconds. If you get the app to run on your GearVR but you don't get any positional tracking to work try to restart the app.

12.) To improve the experience further you can also do the following steps:

  - Go to "First Person Camera" -> "Tracked Pose driver" -> "Tracking Type" and set it from "Rotation and Position" to "Position".
  Uncheck the check mark of "Camera" under "First Person Camera". 
  - If you experience flickering corners add "QualitySettings.antiAliasing = 2;" to a Start function of your choice.
  This could look like this:  void Start () { QualitySettings.antiAliasing = 2;}
  - To get better performance click on the "DefaultSessionConfig" and remove the checkmark from "Enable Plane Finding",
  "Match Camera Framerate" and "Enable Light Estimation" 
  - To disable the live camera feed in the background set "Background Material" under "AR Core Background Renderer" to  None
  - Follow Oculus guidelines for VR settings 
  but uncheck "Multithreaded Rendering" and check "GPU Skinning"
  - Useful tip on how to create a low requirement scene:
  - Use the Oculus Metrics Tool to see your FPS in game.
  - For the latest improvements in low jittery headtracking please have a look in the project files directly. 
  - Be aware of the fact that multithreaded rendering can't be used limiting the performance dramiticaly.
  - ARCore takes up some part of your available resources limiting your abilities even further.