Strategical Tracking of Polyhedral Objects by Reactive Change of Projection Pattern - Reactive Range Finder

This paper describes a new range finding system named Reactive Range Finder, which actively acquires the necessary range information according to each task. This system can generate a projection pattern that enables an efficient measurement adapted to the change of the scene caused by movement of the object. To confirm the efficiency of this system, we made tracking application of polyhedral object moving with 6 degrees of freedom on this system. In order to determine the position and posture of the object, it selects measurable surfaces by using the object model on-line. And it projects three spot lights to each selected surface. As the result, the image processing algorithm became easy, and reliable video-rate tracking was achieved without using particular hardware.