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In this paper we present a 3D tracking system that is able to identify several characteristic points on the surface of a moving scene. The system is considered as a preliminary step in the interaction of industrial robots with dynamic scenes. Through a new color structured light technique based on a disordered codeword pattern, 3D coordinates of the object surface are extracted and processed. This method recovers 3D information in such a way that the correspondence problem is easily and robustly solved. After establishing a set of feature points, an inter frame window search algorithm is carried out to solve the tracking problem. A controlled experimental setup has been built in our lab composed by a 2 DOF mobile platform, a light structured sensor and a manipulator robot. The experimentation has been performed on medium spatial resolution and for soft movement specifications giving promising results.