The site Zelda Informer has brought some interesting information to us relating to the upcoming Hyrule Warriors which also comes to explain some of the character choices, this information originally has arisen from the Japanese magazine Famitsu and that has all specified on the worlds we are set to visit.
According to Zelda Informer the games antagonist Cia caused three different dimensions to appear. Can you guess what worlds they are? Well we have had three worlds announced thus far, the worlds of Ocarina of Time, Twilight Princess and Skyward Sword.
It seems likely that these are all the worlds that we will see however we do know that there will be references to other games in the Zelda franchise such as the Wind Waker from Wind Waker and of course the moon from Majora's Mask.
As part of a theory this is obviously why they had the specific character choices made in the game, and obviously as we make our way through the game we will appear in many different areas and find these characters in their homes and they will join us and as a playable character. I could also imagine that there may only be a small selection of characters left to come in, for jokes sake I would like to say here and now that I think we see a Kikwi or a Mogma from Skyward Sword just as part of covering the races of Hyrule. Irregardless of the game over covering three worlds in the Zelda franchise there are still a lot of places to go to and see.
Source: Zelda Informer