Projection Mapping On Movable Object

We introduce PMOMO(acronym of projection mapping on movable object),a dynamic projection mapping system that tracks the 6-DOF position of real-world object,and shades it with virtual 3D textures by projection in real-time.Our main contributions include: We design and realize a system of dynamic projection mapping.It utilizes depth camera and micro AHRS sensor to capture the pose of target object,builds correspondent virtual 3D scene and projects the image of the virtual scene into the real world.We develop an innovative and robust tracking method based on depth image.It can precisely lock on the targeted object,even with complex geometries.The tracking method samples the structure of the object into low-density point cloud,then performs an adaptive searching scheme for the registration procedure.We design a method to handle both internal and external complex occlusions,and can quickly track back the object even when losing track.The two features make the system feasible for complex interactive scene.As to further improving the realism of the projected texture,our system novelly culls occlusions away from projection,which is achieved by a facetcovering method.We fully estimate the performance of our system under different moving speed and occlusion proportion of the target object.The result shows that when the object is moving at ordinary speed and the occlusion is under 15%,the tracking error is about 6 millimeters at 30 fps rate.