3D Object Surface Tracking Using Partial Shape Templates Trained from a Depth Camera for Spatial Augmented Reality Environments

We present a 3D object tracking method using a single depth camera for Spatial Augmented Reality (SAR). The drastic change of illumination in a SAR environment makes object tracking difficult. Our method uses a depth camera to train and track the 3D physical object. The training allows maker-less tracking of the moving object under illumination changes. The tracking is a combination of feature based matching and frame sequential matching of point clouds. Our method allows users to adapt 3D objects of their choice into a dynamic SAR environment. .