System and method for projection mapping actuatable objects
Present embodiments provide a projection mapping system that includes multiple trackers and an actuatable object. The actuatable object may include multiple tracking cameras positioned on the actuatable object, such that the multiple tracking cameras are configured to detect optical signals of the multiple trackers and to generate tracking signals indicative of detection of the multiple trackers. Additionally, the projection mapping system includes an object controller configured to transmit the tracking signals, and receive instructions to actuate the actuatable object. Also, the projection mapping system includes a system controller configured to receive the tracking signals, determine a position of the actuatable object based on the tracking signals, and generate projection instructions based on the determined position. Also, the system includes a projector communicatively coupled to the system controller, such that the projector is configured to project images onto the actuatable object based on the projection instructions.
1 . A projection mapping system, comprising:
a plurality of trackers;
an actuatable object comprising:
a frame;
one or more actuators configured to actuate a portion of the actuatable object;
a plurality of sensors on or in the portion of the actuatable object and configured to move with the portion during actuation, wherein the plurality of sensors comprises:
a plurality of tracking cameras positioned on a first surface of the portion of the actuatable object, wherein the plurality of tracking cameras are configured to detect optical signals of one or more of the plurality of trackers and to generate tracking signals indicative of detection of the one or more of the plurality of trackers;
an inertial measurement unit (IMU) sensor, wherein the IMU sensor is coupled to the frame, and wherein the IMU sensor is configured to generate an orientation signal in response to changes in orientation of the portion of the actuatable object;
a one-way optical sensor positioned on a second surface of the portion of the actuatable object and configured to generate a signal indicative of light received at the second surface;
one or more external features configured to move relative to the actuatable object to assume a configuration to at least partially obscure one or more of the plurality of tracking cameras; and
an object controller configured to:
transmit signals from the plurality of sensors, the signals comprising the tracking signals, the orientation signal, and the light signal; and
receive instructions to actuate the portion of the actuatable object;
a system controller configured to:
receive the signals from the plurality of sensors;
determine a position of the portion of the actuatable object based on the signals; and
generate projection instructions based on the determined position; and
a projector communicatively coupled to the system controller, wherein the projector is configured to project images onto the second surface of the portion of the actuatable object based on the projection instructions.
2 . The projection mapping system of claim 1 , wherein the second surface is oriented opposing the first surface.
3 . The projection mapping system of claim 1 , wherein the portion of the actuatable object comprises a moveable subsection that moves relative to the frame, and wherein the IMU is fixed to the frame and does not move with the moveable subsection.
4 . The projection mapping system of claim 1 , wherein the one-way optical sensor does not comprise a light emitter.
5 . The projection mapping system of claim 4 , wherein the one-way optical sensor comprises one or both of a fiber optic light guide or an ambient light sensor.
6 . The projection mapping system of claim 5 , wherein the one-way optical sensor is configured to receive light from the projected images.
7 . The projection mapping system of claim 1 , wherein the one or more actuators comprise a servo motor, a hydraulic cylinder, a linear actuator, or a combination thereof.
8 . The projection mapping system of claim 1 , wherein the plurality of tracking cameras positioned on the first surface are shielded from receiving light from the projected images.
9 . An actuatable object, comprising:
a frame;
one or more actuators configured to actuate a portion of the actuatable object;
a plurality of sensors on or in the portion of the actuatable object and configured to move with the portion during actuation, wherein the plurality of sensors comprises:
a plurality of tracking cameras positioned on a first surface of the portion of the actuatable object, wherein the plurality of tracking cameras are configured to detect optical signals of one or more of a plurality of trackers and to generate tracking signals;
an inertial measurement unit (IMU) sensor, wherein the IMU sensor is coupled to the frame, and wherein the IMU sensor is configured to generate an orientation signal in response to changes in orientation of the portion of the actuatable object; and
a one-way optical sensor positioned on a second surface of the portion of the actuatable object and configured to generate a signal indicative of light received at the second surface, wherein the one-way optical sensor comprises one or both of a fiber optic light guide or an ambient light sensor;
one or more external features configured to move relative to the actuatable object to assume a configuration to at least partially obscure one or more of the plurality of tracking cameras; and
an object controller configured to:
transmit signals from the plurality of sensors, the signals comprising the tracking signals, the orientation signal, and the light signal; and
receive instructions to actuate the portion of the actuatable object.
10 . The actuatable object of claim 9 , wherein the portion of the actuatable object comprises a moveable subsection that moves relative to the frame.
11 . The actuatable object of claim 10 , wherein the IMU and the one-way optical sensor are fixed to the frame and do not move with the moveable subsection.
12 . The actuatable object of claim 9 , wherein the object controller is configured to communicatively couple to the IMU, the plurality of sensors, and the one or more actuators.
13 . A processor-implemented method, comprising:
receiving signals from a plurality of sensors mounted on an actuatable object, wherein the plurality of sensors comprise:
a plurality of tracking cameras configured to generate a plurality of tracking signals;
an inertial measurement unit (IMU) configured to generate an orientation signal; and
a one-way optical sensor configured to generate signals indicative of light received, wherein the one-way optical sensor is configured to receive light from projected images;
determining a position of a portion of the actuatable object, wherein the determination is based on the received signals, wherein the plurality of tracking signals of the received signals are based on a relationship between the tracking cameras and trackers mounted within an amusement attraction, and wherein the actuatable object comprises one or more external features configured to move relative to the actuatable object to assume a configuration to at least partially obscure one or more of the plurality of tracking cameras;
generating projection instructions based on the determined position; and
transmitting the projection instructions to a projector, wherein the projector is configured to project the images onto a surface of the actuatable object based on the projection instructions.
14 . The processor-implemented method of claim 13 , wherein the one-way optical sensor does not comprise a light emitter.
15 . The processor-implemented method of claim 14 , wherein the one-way optical sensor comprises one or both of a fiber optic light guide or an ambient light sensor.
16 . The processor-implemented method of claim 13 , wherein the actuatable object comprises one or more actuators configured to actuate the portion of the actuatable object.
17 . The processor-implemented method of claim 13 , wherein the plurality of tracking cameras positioned on the actuatable object are shielded from receiving light from the projected images.