How does VR actually work?

How does VR work? How does wearable tech make you think you're standing on Mars when you're actually about to bump into the kitchen counter?
VR headsets like Oculus Rift and PlayStation VR are often referred to as HMDs and all that means is that they are head mounted displays. Even with no audio or hand tracking, holding up Google Cardboard to place your smartphone's display in front of your face can be enough to get you half-immersed in a virtual world.
The goal of the hardware is to create what appears to be a life size, 3D virtual environment without the boundaries we usually associate with TV or computer screens. So whichever way you look, the screen mounted to your face follows you.
VR headsets use either two feeds sent to one display or two LCD displays, one per eye. There are also lenses which are placed between your eyes and the pixels which is why the devices are often called goggles.
These lenses focus and reshape the picture for each eye and create a stereoscopic 3D image by angling the two 2D images to mimic how each of our two eyes views the world ever-so-slightly differently.
Head tracking means that when you wear a VR headset, the picture in front of you shifts as you look up, down and side to side or angle your head. A system called 6DoF (six degrees of freedom) plots your head in terms of your x, y and z axis to measure head movements forward and backwards, side to side and shoulder to shoulder, otherwise known as pitch, yaw and roll.  There's a few different internal components which can be used in a head-tracking system such as a gyroscope, accelerometer and a magnetometer.
Finally, headphones can be used to increase the sense of immersion. Binaural or 3D audio can be used by app and game developers to tap into VR headsets' head-tracking technology to take advantage of this and give the wearer the sense that sound is coming from behind, to the side of them or in the distance. 

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