D.R.A.F.T. VR

D.R.A.F.T. VR (Depth Refined Avatar Full-Body Tracking) is a SteamVR utility that uses depth sensors and custom trained machine learning models to estimate your body pose and drive full-body tracking in VR.

Key Features

• Support for Kinect v2, Kinect 360, and iPhone LiDAR depth streaming

• Custom trained machine learning pipeline for markerless body pose estimation from depth sensors

• Configurable virtual tracker layouts for feet, hip, upper legs, and upper arms

• VRChat OSC support for standalone headsets, allowing markerless full-body tracking without a PCVR connection

• Guided setup flow with sensor selection, quality settings, driver install tools, dual-sensor alignment, and floor calibration

• Built-in SteamVR calibration and quick re-calibration

• Live tracking previews with 3D visualization

• Adjustable quality and performance settings for different PCs

• Lock tracking hotkey for still poses such as laying down

• Optional foot locking and filtering controls for smoother motion

Dual Sensor Fusion

Use two Kinect v2 or one Kinect V2 and one Kinect 360 sensors together for broader coverage and more stable full-body tracking. D.R.A.F.T. VR aligns both sensors, combines their data through sensor fusion, and produces a single fused body estimate for SteamVR. This helps reduce blind spots and improves tracking consistency compared to a single-camera setup.

Practical Use

D.R.A.F.T. VR is built for markerless full-body tracking. This means no trackers to charge, no extra hardware to wear, and no complicated calibration routines. 

Sensor Comparison

  Sensor       |  Sensor Fusion  |     FOV      |      Res      |  Min Range  |  Max Range | Depth FPS

 Kinect V2   |           Yes          |   70x60*  |  512x424  |      0.5m      |        5m        |      30

Kinect 360  |           No           |   57x43*  |  320x240  |      0.8m      |        4m        |      30

   iPhone      |           No           |   48x61*  |  256x192  |      0.2m      |        5m        |      15

Depth FPS is how often depth data updates; lower rates can misread fast movement and cause temporary tracking loss.

Important Notes

• D.R.A.F.T. VR is companion software, not a standalone game. A Windows PC and compatible sensor hardware are required. SteamVR is required for PCVR tracking, while VRChat standalone users can receive tracking through OSC without a PCVR connection.

• Kinect setups require the included driver installation step

• The Kinect V2 is not compatible with lighthouse/base station tracking

• Dual Kinect is very bandwidth heavy and requires a PCIE USB card for the second sensor.

• The demo does not include SteamVR / OSC / BVH functionality, it is only for completing setup and previewing tracking quality with the 3D preview feature.

• iPhone depth streaming is only supported for models equiped with a LIDAR sensor: iPhone 12 Pro, iPhone 12 Pro Max, iPhone 13 Pro, iPhone 13 Pro Max, iPhone 14 Pro, iPhone 14 Pro Max, iPhone 15 Pro, iPhone 15 Pro Max, iPhone 16 Pro, iPhone 16 Pro Max, iPhone 17 Pro, iPhone 17 Pro Max.