ETSI GS ARF 004-4 V1.1.1 (2023-01)

Augmented Reality Framework (ARF); Interoperability Requirements for AR components, systems and services; Part 4: World Analysis, World Storage and Scene Management functions

DGS/ARF-004-4

General Information

• Status: Not Published
• Technical Committee: ARF - Augmented Reality Framework
• Current Stage: 12 - Completion
• Due Date: 17-Jan-2023
• Completion Date: 20-Jan-2023

Standards Content (Sample)

GROUP SPECIFICATION
Augmented Reality Framework (ARF);
Interoperability Requirements for AR components,
systems and services;
Part 4: World Analysis, World Storage and
Scene Management functions
Disclaimer
The present document has been produced and approved by the Augmented Reality Framework (ARF) ETSI Industry
Specification Group (ISG) and represents the views of those members who participated in this ISG.
It does not necessarily represent the views of the entire ETSI membership.

2 ETSI GS ARF 004-4 V1.1.1 (2023-01)

Reference
DGS/ARF-004-4
Keywords
API, AR Cloud, architecture, augmented reality,
context capturing and analysis, data sharing,
framework, interoperability, model,
real world capture, requirements
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3 ETSI GS ARF 004-4 V1.1.1 (2023-01)
Contents
Intellectual Property Rights . 4
Foreword . 4
Modal verbs terminology . 4
1 Scope . 5
2 References . 5
2.1 Normative references . 5
2.2 Informative references . 5
3 Definition of terms, symbols and abbreviations . 5
3.1 Terms . 5
3.2 Symbols . 6
3.3 Abbreviations . 6
4 Interoperability requirements for AR8 and AR11 . 6
4.1 AR8 and AR11 Reference Points scope . 6
4.2 Pose . 6
4.3 Relocalization Information . 8
5 Interoperability requirements for AR10 . 9
5.1 AR10 Reference Points scope . 9
5.2 World Representation Update . 9
Annex A (informative): Pose estimation overview . 11
History . 14

ETSI
4 ETSI GS ARF 004-4 V1.1.1 (2023-01)
Intellectual Property Rights
Essential patents
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pertaining to these essential IPRs, if any, are publicly available for ETSI members and non-members, and can be
found in ETSI SR 000 314: "Intellectual Property Rights (IPRs); Essential, or potentially Essential, IPRs notified to
ETSI in respect of ETSI standards", which is available from the ETSI Secretariat. Latest updates are available on the
ETSI Web server (https://ipr.etsi.org/).
Pursuant to the ETSI Directives including the ETSI IPR Policy, no investigation regarding the essentiality of IPRs,
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referenced in ETSI SR 000 314 (or the updates on the ETSI Web server) which are, or may be, or may become,
essential to the present document.
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Foreword
The present document is part 4 of a multi-part deliverable covering Interoperability Requirements for AR components,
systems and services, as identified below:
Part 1: "Overview";
Part 2: "World Storage and AR Authoring functions";
Part 3: "World Capture, World Analysis and Scene Management";
Part 4: "World Analysis, World Storage and Scene Management functions";
Part 5: "External Communications".
The ISG ARF shares the following understanding for Augmented Reality: Augmented Reality (AR) is the ability to mix
in real-time spatially-registered digital content with the real world.
Modal verbs terminology
In the present document "shall", "shall not", "should", "should not", "may", "need not", "will", "will not", "can" and
"cannot" are to be interpreted as described in clause 3.2 of the ETSI Drafting Rules (Verbal forms for the expression of
provisions).
"must" and "must not" are NOT allowed in ETSI deliverables except when used in direct citation.
ETSI
5 ETSI GS ARF 004-4 V1.1.1 (2023-01)
1 Scope
The present document specifies the high level Reference Point requirements between the World Analysis, the
World Storage and the Scene Management functions as they are identified in ETSI GS ARF 003 [1]. It further defines
the requirements of the Reference Points "Pose" (AR8), "3D Map" (AR10) and "Relocalization Information" (AR11).
2 References
2.1 Normative references
References are either specific (identified by date of publication and/or edition number or version number) or
non-specific. For specific references, only the cited version applies. For non-specific references, the latest version of the
referenced document (including any amendments) applies.
Referenced documents which are not found to be publicly available in the expected location might be found at
https://docbox.etsi.org/Reference/.
NOTE: While any hyperlinks included in this clause were valid at the time of publication, ETSI cannot guarantee
their long term validity.
The following referenced documents are necessary for the application of the present document.
[1] ETSI GS ARF 003 (V1.1.1): "Augmented Reality Framework (ARF) AR framework architecture".
[2] ETSI GS ARF 004-2 (V1.1.1): "Augmented Reality Framework (ARF) Interoperability
Requirements for AR components, systems and services Part 2: World Storage and AR Authoring
functions".
2.2 Informative references
References are either specific (identified by date of publication and/or edition number or version number) or
non-specific. For specific references, only the cited version applies. For non-specific references, the latest version of the
referenced document (including any amendments) applies.
NOTE: While any hyperlinks included in this clause were valid at the time of publication, ETSI cannot guarantee
their long term validity.
The following referenced documents are not necessary for the application of the present document but they assist the
user with regard to a particular subject area.
Not applicable.
3 Definition of terms, symbols and abbreviations
3.1 Terms
For the purposes of the present document, the following terms apply:
AR Asset: any kind of content positioned and oriented in the real world to alter the user's experience
feature: characteristics of a real world element that can be searched, recognized or tracked ®
NOTE: Features can be of different nature without being limited to visual patterns, UWB, Wi-Fi , infrared or
sounds.
GeoTrackable: position and orientation on earth in a geodetic referential
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Reference Point: point located at the interface of two non-overlapping functions and representing interrelated
interactions between those functions
Trackable: element of the real world of which features are available and/or could be extracted
NOTE: Features can be made available from an analysis of the element itself (fiducial markers, natural images,
3D point cloud) or processed from a representation of the element (3D CAD model).
World Anchor: fixed position in relation to one or more elements of the real world
NOTE 1: A World Anchor has a Coordinate Reference System in which AR Assets stay spatially-registered.
NOTE 2: More than one World Anchor can be attached to a Trackable.
NOTE 3: As the AR system updates its knowledge of the environment, the World Anchor's pose adapts to the real
world preventing the associated AR Asset attached to the World Anchor from drifting.
World Graph: graph of Trackables and World Anchors representing the real world knowledge in the
World Representation sub-function
3.2 Symbols
Void.
3.3 Abbreviations
For the purposes of the present document, the following abbreviations apply:
AR Augmented Reality
GNSS Global Navigation Satellite System
LiDAR Light Detection And Ranging
SM Scene Management
UUID Universally Unique IDentifier
WA World Analysis ®
Wi-Fi Wireless Fidelity
WS World Storage
4 Interoperability requirements for AR8 and AR11
4.1 AR8 and AR11 Reference Points scope
AR8 "Pose" and AR11 "Relocalization Information", as specified in ETSI GS ARF 003 [1], define a subset of the
dialog structure between the AR Scene Management (SM), the World Analysis (WA), and the World Storage (WS)
functions. The SM function needs the poses of the AR device and/or of one or more World Anchors to update its AR
scene representation at runtime. These poses are estimated by the WA function which will require relocalization
information extracted from the World Graph stored in the WS function.
4.2 Pose
A pose defines the position and orientation in six degrees of freedom in the world of either an AR device in relation to a
World Anchor or a Trackable (AR device pose), or conversely a Trackable or World Anchor in relation to the AR
device (object pose).
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RQ-AR8-001 The WA function shall provide the SM function with a pose of either an AR device in relation to a World
Anchor or a Trackable, or conversely a Trackable or World Anchor in relation to the AR device.
NOTE: The pose can be estimated from data captured by various sensors (e.g. cameras, depth sensors, LiDAR, ®
GNSS, accelerometers, or Wi-Fi ).The World Anchors and Trackables are referenced in the Scene Graph
of the application by their UUID defined during the World Graph authoring.
RQ-AR8-002 The WA function shall provide the SM function with a pose defined either in a geodetic or Cartesian
reference frame. In case of a geodetic reference frame, the geodetic system shall be specified.
NOTE: In case where poses are defined in different reference frames, a conversion of these poses in a common
reference frame will be required.
RQ-AR8-003 The WA function shall provide the SM function with a time stamp for the specific captures used to
estimate the
...