Real-time tracking of surfaces with structured light

Abstract

We detail the development of deformable surface models to track objects undergoing motion, using real-time range data acquired from our sensor. The surface model for an object consists of B-spline tensor product patches, augmented with a dynamic and measurement model. To maximize performance, careful consideration is made of where to make the next range measurements, based on the current uncertainty of the model. By calculating the reduction in uncertainty that each measurement makes, the optimal sampling position at every step can be found.