High-speed active vision pose perception and tracking method based on Pan-Tilt mirrors for 6-DOF dynamic projection mapping

Abstract

Active vision tracking projection mapping technology holds promise for augmented reality, autonomous driving, and robot navigation. However, it performs suboptimally with high-speed, randomly moving targets due to the difficulty in synchronizing accurate pose perception and high-dynamic vision tracking across a large field of view. Therefore, we proposed a high-speed active vision pose perception and tracking method for 6 degree-of-freedom (DOF) dynamic projection mapping. We designed a tracking method for an optical active vision system based on a Pan-Tilt mirror, which blends a pupil drift optical module field of view enhancement module and a Pan-Tilt optical axis control design, to achieve feedback control tracking of high-speed moving targets. The experimental results show that the tracking errors in the x and y directions are less than 25 pixels, and the maximum response time of the system is less than 5 ms. The projection position error is not more than 61.9 mm, and the rotation error is less than 4^∘. This method effectively achieves 6-DOF dynamic projection of high-speed moving targets, exhibiting enhanced accuracy and responsiveness in dynamic scenarios.