Calibration system and method for dynamic projection mapping

Abstract

A calibration tool for a dynamic projection mapping system includes a rigid body, a row of at least three light emitters disposed on the rigid body, and an additional light emitter disposed on the rigid body and offset from the row of at least three light emitters. The calibration tool also includes a sensor disposed on the rigid body and configured to detect the projected light.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 350,301, filed on June 8, 2022, entitled “CALIBRATION SYSTEMS AND METHODS FOR DYNAMIC PROJECTION MAPPING,” which is incorporated herein by reference in its entirety for all purposes. Background Art

[0003] This paragraph is intended to introduce the reader to various aspects of the technology that may be related to various aspects of the technology described and / or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of various aspects of the present disclosure. Therefore, it should be understood that these statements are to be understood in this light, rather than as admissions of prior art.

[0004] Amusement parks and other entertainment venues include animated characters to entertain visitors, among many other attractions. Certain animated characters can be brought to life through projection mapping, which traditionally directs the projection of a predetermined appearance onto the animated character. For example, the animated character can be visually supplemented with a set of pre-made or fixed images that can be consistent with the pre-programmed movements of the animated character. The animated character may have an internally positioned projector that projects images through a semi-transparent projection surface of the animated character; however, the internally positioned projector may also generate an unrealistic backlight or glow on the semi-transparent projection surface of the animated character. It is now recognized that it is desirable to make the animated character appear more lifelike and to provide the ability to enable the animated character to blend with its surroundings in a realistic and convincing manner. Summary of the invention

[0005] Certain embodiments that are comparable in scope to the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the disclosure, but rather, are intended only to provide a brief summary of certain disclosed embodiments. In fact, the disclosure may include a variety of forms that may be similar or different from the embodiments described below.

[0006] In one embodiment, a calibration tool for a dynamic projection mapping system includes a rigid body, at least three light emitters arranged in a row on the rigid body, and an additional light emitter arranged on the rigid body and offset from the at least three light emitters in the row. The calibration tool also includes a sensor arranged on the rigid body and configured to detect the projected light.

[0007] In one embodiment, a dynamic projection mapping system includes a projector configured to project visible light. The dynamic projection mapping system also includes a calibration tool having a plurality of emitters configured to emit infrared light and a sensor configured to detect visible light projected by the projector. The dynamic projection mapping system further includes a plurality of tracking cameras configured to generate image data indicative of infrared light emitted by the plurality of emitters. The dynamic projection mapping system further includes processing circuitry configured to establish a common origin for the projector and the plurality of tracking cameras based on sensor data received from the sensor and image data received from the plurality of tracking cameras.

[0008] In one embodiment, a method of operating a projection system and an optical tracking system for dynamic projection mapping includes instructing, via a processing circuit, an emitter group of a calibration tool to emit light in an environment. The method also includes receiving, from a plurality of tracking cameras and at the processing circuit, image data indicating a respective position of each emitter in the emitter group in the environment. The method further includes instructing, via the processing circuit, a projector to project visible light into the environment. The method further includes receiving, from a sensor of the calibration tool and at one or more processors, sensor data indicating visible light detected by the sensor. The method further includes establishing, via the processing circuit, a common origin in the environment for the plurality of tracking cameras and the projector based on the image data and the sensor data. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] These and other features, aspects and advantages of the present disclosure will be better understood when the following detailed description is read with reference to the accompanying drawings, in which like reference numerals represent like parts throughout, and in which:

[0010] Figure 1 is a schematic diagram of an embodiment of a media system including a motion tracking system and a projection system according to an embodiment of the present disclosure;

[0011] Figure 2 According to the embodiment of the present disclosure Figure 1 A block diagram of an embodiment of a media system;

[0012] Figure 3 The use of the embodiments according to the present disclosure Figure 1 A front view of a projection of human-like facial features mapped onto a head portion of an animated character by a media system;

[0013] Figure 4 The use of the embodiments according to the present disclosure Figure 1 A front view of a projection of animal-like facial features mapped onto a head portion of an animated character by a media system;

[0014] Figure 5 According to the embodiments of the present disclosure, Figure 1a perspective view of a performance scene of an attraction of a media system of the invention, wherein a calibration tool is moved through the performance scene to calibrate tracking cameras of the motion tracking system to each other;

[0015] Figure 6 According to the embodiment of the present disclosure Figure 5 a perspective view of a performance scene of an attraction, wherein a calibration tool is positioned within the performance scene to establish an origin for calibrating a tracking camera of a motion tracking system and a projector of a projection system for the performance scene;

[0016] Figure 7 According to an embodiment of the present disclosure, it can be used Figure 5 A front view of the calibration tool in a performance scene of an attraction; and

[0017] Figure 8 The operation according to the embodiment of the present disclosure Figure 1 A flow chart of a method for completing a calibration process for a media system. DETAILED DESCRIPTION

[0018] One or more specific embodiments of the present disclosure will be described below. In order to provide a concise description of these embodiments, all features of the actual implementation may not be described in the specification. It should be recognized that in the development of any such actual implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. In addition, it should be recognized that such development work may be complex and time-consuming, but it is still a routine task of design, construction, and manufacturing for ordinary technicians who benefit from the present disclosure.

[0019] When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean that there are one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive, and mean that there may be additional elements other than the listed elements. Additionally, it should be understood that references to "one embodiment" or "an embodiment" of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features.

[0020] The present embodiment is directed to a media system for use in an attraction in an entertainment environment (e.g., a theme park, an amusement park, a theater, a stadium, a concert hall). The media system may include a projector for projecting an image onto an exterior surface of a prop (such as an animated character). As discussed herein, the media system utilizes external tracking of the animated character (e.g., via optical performance capture or optical motion capture) to dynamically generate an image and accurately project the image onto an exterior surface of the animated character.

[0021] In more detail, to support accurate projection of images onto an animated avatar, the animated avatar may be equipped with a tracker so that a tracking camera of a motion tracking system of a media control system can discern the movement, position, and orientation of the animated avatar in real time. The media control system may operate independently of the animated avatar (e.g., not relying on position, velocity, and / or acceleration information from sensors or actuators of the animated avatar), and the media control system may dynamically generate and fit the projected image to the animated avatar at a simulated real-life frame rate, such as by presenting textures, colors, and / or movements that appear indistinguishable from the animated avatar. As will be appreciated, the media control system may generate and update a skeletal model of the animated avatar based on feedback from the tracking camera. The skeletal model generally represents the movable parts of the animated avatar and is dynamically updated to represent the current three-dimensional (3D) position (e.g., including x, y, and z coordinates), orientation, and scale of the animated avatar or a portion thereof (e.g., the pose of the animated avatar). Thus, the media control system utilizes the skeletal model to generate a projected image that accurately fits the current position and orientation of the animated avatar. As discussed herein, a calibration process may be performed to calibrate the tracking cameras of the motion tracking system and the projectors of the projection system to a performance scene (e.g., a performance space), and thereby calibrate the tracking cameras of the motion tracking system and the projectors of the projection system to each other (e.g., to share a common origin and coordinate system).

[0022] Although some of the examples presented herein refer to animated figures for ease of discussion, it should be recognized that the term is intended to broadly encompass any prop that can be moved in an attraction and / or onto which projections can be projected via a projection system. In general, it should be considered that the techniques disclosed herein can be applied to projections onto any prop (e.g., an object; a structure; a show action equipment [SAE]). For example, a prop may be a fully animated robotic figure. As another example, a prop may be one or more objects (e.g., a building, a stick, a sword, or other objects that are simpler than a fully animated robotic figure) that are moved around via a complex SAE, a fully animated robotic figure, and / or a participant (e.g., a human participant or actor). In fact, a prop may be a participant (e.g., a human participant or actor). Furthermore, regardless of its structure, a prop may represent a character (e.g., a human-like character, an animal-like character) or may not represent a character (e.g., an inanimate object such as a building, furniture, water).

[0023] Taking the above into consideration, Figure 1A media system 8 (e.g., a dynamic projection mapping system) of an attraction 10 is shown, which includes a prop, which may be referred to herein as an animated figure 12, which receives an image 14 (e.g., projected content) from a projector 16 (e.g., an external projector, an optical projector with a lens) of a projection system of a media control system 20. As shown, the attraction 10 is a performance scene having a stage ceiling 22, a stage floor 24, and scenery objects 26 disposed between the stage ceiling 22 and the stage floor 24. The performance scene may also include any suitable stage lighting device 30, such as the lighting instrument or device shown. From a visitor area 32 of the attraction 10, a plurality of guests 34 may view and / or interact with the animated figure 12. Although shown in a stage-type environment, it should be understood that the media system 8 may be used to provide entertainment to guests 34 in any entertainment environment, such as a dark ride, an outdoor arena, an area near a ride path of a ride vehicle carrying guests 34, and the like.

[0024] It is noteworthy that the projector 16 is located outside of the animated figure 12, so that the enclosed volume within the animated figure 12 can be used to accommodate components other than the projector 16, such as certain actuation systems. In the illustrated embodiment, the projector 16 is disposed in front of the animated figure 12 and is shielded from the view of the guests 34 by the overhanging portion 36 of the stage ceiling 22. Regardless of the position of the projector 16, the projector 16 directs the image 14 onto the outer surface 40 of the body 42 (e.g., structure) of the animated figure 12, which can correspond to the head portion 44 of the animated figure 12. As a result, the media control system 20 can deliver realistic and attractive textures to the head portion 44, thereby providing an immersive and interactive experience for the guests 34.

[0025] The animated figure 12 is part of a motion control system 50 (e.g., a prop control system) that can operate independently of the media control system 20. For example, the motion control system 50 can utilize interactive data to dynamically update the animated figure 12. It should be understood that the motion control system 50 can instruct actuators to adjust the position of the animated figure 12 and / or adjust any other suitable component of the attraction 10 that can be seen by the guests 34. For example, the motion control system 50 can control an actuable motion device 66 (e.g., an actuable motion base) that is physically connected to the animated figure 12. The actuable motion device 66 can be any suitable motion generating component that can move (e.g., translate, rotate) the animated figure 12 laterally, longitudinally, and / or vertically. In addition, it should be recognized that the actuable motion device 66 can be or include a suspension system and / or a flight system that is connected to the animated figure 12 from above the stage floor 24.

[0026] A tracker 60 (e.g., a trackable marker) may be positioned on the animated character 12. The tracker 60 may be positioned on a rear surface 62 of the animated character 12 or on any suitable surface. The tracker 60 enables one or more tracking cameras 64 of a motion tracking system of the media control system 20 to sense or resolve the position and orientation of the animated character 12 within the attraction 10, such as via optical performance capture or optical motion capture technology. Thus, as will be appreciated, the projector 16 may project an image 14 onto the animated character 12 in sync with the actual current position and orientation (e.g., pose) of the animated character 12 without relying on position, velocity, and / or acceleration information from sensors or actuators of the animated character 12. However, it should be appreciated that in some embodiments, the media control system 20 may verify the positioning and operation of the projector 16 based on sensor-derived information and / or actuator-derived information from the animated character 12.

[0027] It should be appreciated that the media system 8 may include any suitable number of projectors 16, trackers 60, and tracking cameras 64. For example, more than one animated character 12 may be included within a single attraction 10, and the media system 8 may include at least one projector 16 for each animated character 12. However, it is presently recognized that the particular infrastructure of the media system 8 enables any number of animated characters 12 to move within the optical range of at least one tracking camera 64 and within the projection cone of at least one projector 16 to receive images 14. In embodiments, multiple projectors 16 may be provided to deliver content to multiple sides of a single animated character 12. Additionally, certain embodiments of the animated character 12 may include at least two trackers 60 to enable one or more tracking cameras 64 to resolve the relative positioning of at least two trackers 60 to effectively track the animated character 12, although it should be appreciated that changes in the position of a single tracker 60 may also enable the position of the animated character 12 to be resolved with a less complex and / or less precise system.

[0028] In embodiments, projector 16 and tracking camera 64 may be physically coupled to each other. For example, projector 16 and tracking camera 64 may be rigidly mounted to a frame (e.g., a rigid frame) to form a unified system such that projector 16 and tracking camera 64 maintain a fixed position relative to each other. Additionally, the frame may be rigidly mounted to stage floor 24 or another stationary surface of a show scene. Thus, during operation of attraction 10, the frame may block (e.g., reduce or eliminate) drift between projector 16 and tracking camera 64, as well as drift between projector 16 and tracking camera 64 and the show scene.

[0029] Regardless of how the projector 16 and tracking camera 64 are positioned within the attraction 10, a calibration process is performed to establish a relationship between the projector 16 and the tracking camera 64 so that the projector 16 can project the image 14 onto the animated figure 12 tracked via the tracking camera 64. The calibration process may occur prior to operation of the attraction 10. For example, the calibration process may be performed before the start of the week, before the park opens each day, before each cycle of the attraction 10, or any combination thereof. In embodiments, the calibration process may be performed (e.g., triggered) upon various events, such as in response to detecting an offset between the projected image and the animated figure (e.g., a sensor / imaging device detects an offset, and this triggers the media system 8 to recalibrate; an operator visually observes the offset and provides input to instruct the media system 8 to recalibrate).

[0030] Figure 1 Also shown are examples of interactive data sources 70 including visitor sensors 72. Visitor sensors 72 may collect visitor input from any visitor 34 within visitor area 32. As recognized herein, visitor input is a form of interactive data that may be used to adaptively update animated figures 12 or attraction 10. Motion control system 50 may generate responses for animated figures 12 to perform based on the interactive data, and then instruct actuators of animated figures 12 to perform the responses.

[0031] In an embodiment, the avatar 12 is covered with trackers 60 (e.g., visible or invisible; active or passive; retroreflective markers or active transmitters). These discrete points on the avatar 12 can be used directly as visual reference points based on which a two-dimensional (2D) or three-dimensional (3D) pose estimation process can be performed. These discrete points can also be identified and fed into a machine learning algorithm, compared to known ground truth surface poses, and pose matching can be performed in real time.

[0032] Figure 2is a block diagram of a media system 8 having a media control system 20 that is operable to project an image externally onto an animated character 12 (e.g., without being communicatively coupled to or solely dependent on a motion control system 50). In an embodiment, the media control system 20 may not directly send or receive communication signals to or from the motion control system 50. However, as described below, an interactive data source 70 may be communicatively coupled upstream of both the media control system 20 and the motion control system 50 to enable coordination of the media control system 20 and the motion control system 50 without requiring intercommunication between the control systems 20, 50. A network device 90 (such as a switch or hub) may be directly communicatively coupled downstream of the interactive data source 70 to facilitate efficient communication between the interactive data source 70 and the control systems 20, 50. However, it should be understood that the network device 90 may be omitted, a plurality of network devices 90 may be implemented, or any other suitable data management device may be used to facilitate the transfer of data from the interactive data source 70 to the control systems 20, 50.

[0033] In the illustrated embodiment, the animated character 12 includes a character processor 100 and a character memory 104, which may together form all or part of a character controller 102 of the motion control system 50. Trackers 60 are disposed on the body 42 of the animated character 12 to enable a tracking camera 64 of a motion tracking system of the media control system 20 to sense the position and orientation or posture of the animated character 12. The trackers 60 may be active devices that each transmit a separate signal to the tracking camera 64. For example, the trackers 60 may emit infrared light, electromagnetic energy, or any other suitable signal that is detectable by the tracking camera 64 (and, at least in some cases, undetectable to the guest 34). Alternatively, the trackers 60 may be passive devices (e.g., reflectors, painted portions) that do not emit a signal and enable the tracking camera 64 to accurately distinguish the passive device from the animated character 12 and / or other portions of the attraction 10.

[0034] In addition, the animated character 12 is equipped with any suitable actuators 106 that enable the animated character 12 to move in a realistic and life-like manner (e.g., walk, translate, rotate, pivot, lip sync). The interactive data source 70 may include any suitable data source that provides a time-varying data set as interactive data 109. For example, the visitor sensor 72 may sense visitor interaction and relay interactive data indicative of the visitor interaction to the character controller 102. The character controller 102 may then instruct the actuators 106 to dynamically manipulate the animated character 12 to immediately respond to the interactive data 109.

[0035] The media control system 20 may include the projector 16, the tracking camera 64, the camera network device 110, and / or the media controller 112. The media controller 112 may be communicatively coupled to the interactive data source 70 (e.g., via the network device 90), thereby enabling the media controller 112 to dynamically react to the interactive data 109 and / or other changes in the attraction 10. In an embodiment, the media control system 20 may be communicatively isolated from the motion control system 50. That is, the motion control system 50 may be independent of the media control system 20. Thus, the media control system 20 provides the animated character 12 with operational freedom to adaptively respond to the interactive data 109 in substantially real time (e.g., within microseconds or milliseconds of an interaction) while the media control system 20 monitors or tracks the movement of the animated character 12 to project images thereon in substantially real time. Thus, while the motion control system 50 executes an image feedback loop, the media control system 20 simultaneously executes a media feedback loop to modify the image projected onto the animated character 12.

[0036] The media control system 20 utilizes tracking cameras 64 to gather information about the current position and orientation of the avatar 12. The type or configuration of the tracking cameras 64 may be individually selected to correspond to and detect the type of tracker 60. The positioning of the tracker 60 in conjunction with the geometric or skeletal model of the avatar 12 facilitates coordination of projection onto the avatar 12 in different orientations.

[0037] The tracking camera 64 is communicatively coupled to a camera network device 110, which relays signals indicating the current three-dimensional position (e.g., including x, y, and z coordinates relative to an origin) and orientation of the avatar 12 or a portion thereof (e.g., the pose of the avatar 12) to a media controller 112. Thus, the camera network device 110 is a network switch or sensor hub that integrates multiple information streams from the tracking camera 64 for efficient processing by the media controller 112. The media controller 112 includes a media processor 114 and a media storage 116 that operate together to determine, generate, and / or adjust a dynamic image to be projected onto the avatar 12 at the current position and orientation. The media controller 112 may then instruct the projector 16 to project the dynamic image onto the avatar 12. The image may be rendered entirely on demand based on the current pose (e.g., position and orientation) of the avatar 12. In a less complex configuration, the image may be generated by adapting a pre-recorded video stream to the current pose of the avatar 12. The media controller 112 may be any suitable media generator or game engine with powerful processing capabilities and reduced latency. It should be understood that the media controller 112 is therefore able to generate images to be projected onto the animated character 12 in substantially real time based on the data received from the tracking camera 64. In practice, the media controller 112 may maintain a skeletal model or algorithm representing the animated character 12 and its actuatable parts (e.g., jaw, limbs, joints). Based on this data, the media controller 112 may update the skeletal model to represent the actual current position and orientation of the animated character 12, and then generate an image to be projected onto the animated character 12 having the current position and orientation.

[0038] Projector 16 may include a projector processor 120 and a projector memory 122 to facilitate presenting an image onto animated figure 12. Projector processor 120 generally receives data indicative of an image from media controller 112, and then instructs a light source within projector 16 to output the image through a lens. Media controller 112 may determine the current silhouette or shape of a target figure portion of animated figure 12 to receive a projected image based on the updated skeletal model, and then instruct projector 16 to provide the image onto the silhouette.

[0039] Processors 100, 114, 120 are each any suitable processor that can execute instructions for implementing the presently disclosed techniques, such as a general purpose processor, a system on a chip (SoC) device, an application specific integrated circuit (ASIC), a processor of a programmable logic controller (PLC), a processor of an industrial PC (IPC), or some other similar processor configuration. These instructions are encoded in a program or code stored in a tangible, non-transitory, computer-readable medium (such as memory 104, 116, 122 and / or other storage circuits or devices). Thus, graphics processor 100 is coupled to graphics memory 104, media processor 114 is coupled to media memory 116, and projector processor 120 is coupled to projector memory 122. This embodiment of media system 8 also includes a show control system 130 that coordinates additional output devices of attraction 10. For example, the show controller 132 of the show control system 130 is communicatively coupled between the network device 90 and one or more lighting output devices 134, audio output devices 136 and / or venue-specific special effects output devices 138 (e.g., smoke machines, vibration generators, actuatable portions of scenic objects 26).

[0040] Figure 3 1 is a front view of an image 14 disposed on a head portion 44 of a body 42 of an animated character 12. The image 14 may include features or textures similar to a face. For example, eyebrows, eyes, nose, lips, and / or wrinkles may be projected onto the head portion 44. The animated character 12 is provided with clothing elements (e.g., a hat, a wig, jewelry), and the media controller 112 and / or the projector 16 may identify the outline of the outer surface 40 of the animated character 12 formed by the clothing elements (e.g., via a projection mask). The projector 16 then directs the image 14 to a target portion or portion of the outer surface 40 of the animated character 12. The media control system 20 may monitor the movement of the animated character 12, such as large movements on the stage and / or small movements of the articulated jaw, and project an appropriate, realistic image onto the head portion 44 of the animated character 12.

[0041] Figure 4 1 is a front view of an image 14 disposed on an outer surface 40 of an animated character 12. As shown, the image 14 provides a character, non-human or exotic appearance, such as an owl, to the animated character 12. The outer surface 40 of the head portion 44 may be textured to complement the image 14. It should also be understood that the image 14 may also include supernatural, exotic or non-human images and / or effects, such as flames, smoke, deformation, color change, etc.

[0042] Reference Figure 5-8 Aspects related to calibration and alignment of the projector 16 and tracking camera 64 may be better understood. Figure 5, an attraction 10 is shown that includes a tracking camera 64 and a projector 16. A calibration process may be performed within a performance scene using a calibration tool 150 (e.g., a calibration rod or device). As part of an initial portion of the calibration process (e.g., camera calibration; calibrating the tracking cameras 64 to each other), an operator 152 (e.g., an operator; an autonomous or remotely controlled robot) may carry the calibration tool 150 within the performance scene. The operator 152 may move the calibration tool 150 around within the performance scene, such as by waving the calibration tool 150 back and forth while traveling through the performance scene (e.g., walking or rolling from one side of the performance scene to the other side of the performance scene). To facilitate the initial portion of the calibration process, the calibration tool 150 includes a plurality of emitters 154, such as at least three emitters 154. The plurality of emitters 154 may be arranged on the calibration tool 150 in a single row or line and at known relative positions. In one embodiment, the plurality of emitters 154 may be light emitters (e.g., light emitting diodes [LEDs]). For example, plurality of emitters 154 may be light emitters that emit infrared (IR) light that is detectable by tracking camera 64 (and is not visible or detectable to visitor 34 ).

[0043] As calibration tool 150 moves through the performance scene, each of tracking cameras 64 captures multiple image frames (e.g., tens, hundreds, thousands). Media controller 112 or any other suitable processing circuitry of media system 8 may process multiple image frames to calibrate tracking cameras 64 to each other. For example, media controller 112 or other suitable processing circuitry of media system 8 may compare multiple frames to each other to determine the relative positions of tracking cameras 64 (e.g., comparing multiple frames from different tracking cameras 64 when calibration tool 150 is in a first position, then comparing multiple frames from different tracking cameras 64 when calibration tool 150 is in a second position, and so on). Advantageously, the initial portion of the calibration process performed in this manner may also take into account / compensate for changes in properties of tracking cameras 64, such as lens distortion of tracking cameras 64.

[0044] As shown, calibration tool 150 also includes at least one additional emitter 156 (e.g., a bias emitter) and at least one sensor 158 (e.g., a light detector). Calibration tool 150 may be used to perform a calibration process periodically (e.g., before the start of the week, before the park opens each day, before each cycle of attraction 10, or any combination thereof) and / or at other suitable times (e.g., in response to certain events). In addition, calibration tool 150 may only be used in a show scene during a calibration process and not during a show in the show scene. However, in one embodiment, calibration tool 150 may cover or include an associated object (e.g., a prop) onto which projector 16 projects images during a show. For example, calibration tool 150 may be a piece of show action equipment (SAE) that is projected onto during a show and / or appears only during a portion of the show (e.g., the beginning; initial portion).

[0045] Figure 6 An attraction 10 including a tracking camera 64 and a projector 16 is shown with a calibration tool 150 positioned within the show scene to establish an origin (e.g., a common origin). The origin can then be used to calibrate the tracking camera 64 and the projector 16 to the show scene, which can also effectively calibrate the tracking camera 64 and the projector 16 to each other.

[0046] As part of an additional portion of the calibration process (e.g., origin calibration; to establish an origin in a performance scene), the calibration tool 150 may be positioned and maintained at an origin setting location in the performance scene. For example, the calibration tool 150 may be fastened (e.g., bolted) and / or otherwise secured (e.g., via an interference fit) to a structure 160 (e.g., a stationary structure) in the performance scene. In one embodiment, the structure 160 may be mounted (e.g., fastened, such as bolted) to the stage floor 24 or other surface in the performance scene so that the structure 160 remains stationary relative to the performance scene. In one embodiment, the structure 160 may include a bracket 162 configured to support a portion of the calibration tool 150. For example, in Figure 6 In the embodiment of the present invention, the structure 160 includes a bracket 162 having a recess that is configured to receive a portion of the calibration tool 150. In this way, the calibration tool 150 can be rigidly coupled to the structure 160 and maintained at an origin setting position within the performance scene. However, it should be appreciated that the calibration tool 150 can be positioned and maintained at the origin setting position via any suitable technique.

[0047] During the additional portion of the calibration process, at least three emitters on calibration tool 150 are visible to tracking camera 64. In one embodiment, the at least three emitters may include two emitters 154 and additional emitter 156 arranged in a triangle (e.g., as three points, such as a three-point region or area, that form or outline a triangle across calibration tool 150). Since tracking cameras 64 have previously been calibrated with each other in the initial portion of the calibration process, the at least three emitters arranged in the triangle may be tracked in three dimensions. Tracking camera 64 may capture an image frame, and media controller 112 or any other suitable processing circuitry of media system 8 uses the respective positions of the at least three emitters (e.g., two emitters 154 and additional emitter 156) in the image frame to set an origin of tracking camera 64 within the performance scene. For example, the origin may be set to coincide with the respective center of additional emitter 156, the respective center of sensor 158, or any other suitable location. Furthermore, since the at least three emitters have known relative positions and / or spacings on the calibration tool 150, the media controller 112 or any other suitable processing circuitry of the media system 8 sets a coordinate system using the respective positions of the at least three emitters (e.g., the two emitters 154 and the additional emitter 156) in the image frame based on the origin of the tracking camera 64 within the performance scene. In this manner, the media controller 112 or any other suitable processing circuitry of the media system can set an origin (0,0,0) and a coordinate system having an x-axis or direction, a y-axis or direction, and a z-axis or direction (implied protruding perpendicularly from the 90 degree corner of the triangle).

[0048] Then, as part of the sensor mode portion of the calibration process, the calibration tool 150 is moved around within the performance scene while simultaneously directing the plurality of emitters 154, 156 (e.g., all of the emitters) to emit light and while simultaneously directing the projector 16 to emit light into the performance scene toward the calibration tool 150 (e.g., a structured light scan). In one embodiment, the calibration tool 150 is moved around within the performance scene to additional locations to perform the sensor mode portion of the calibration process (e.g., the steps are performed sequentially with the calibration tool 150 at a different location other than the origin setup location). However, it is contemplated that additional portions of the calibration process and portions of the sensor mode portion of the calibration process may be performed simultaneously (e.g., certain steps are performed simultaneously or at overlapping times at the origin setup location, and the calibration tool 150 is then moved to an additional location to complete the sensor mode portion of the calibration process). In any case, during the sensor mode portion of the calibration process, the calibration tool 150 is placed at multiple locations, such as at least six locations. For ease of discussion, Figure 6Included are multiple additional structures 164 located at different locations around the performance scene (e.g., at least six additional structures 164 located at at least six different locations around the performance scene). When present, the additional structures 164 may include any features of the structure 160 (e.g., fastened to the performance scene; utilizing corresponding brackets). In operation, once the additional portions of the calibration portion are completed to set the origin, the calibration tool 150 may be moved from the structure 160 to each of the additional structures 164 in sequence (e.g., connected to each of the additional structures 164 in sequence; the first of the additional structures 164, then the second of the additional structures 164, and so on). However, it should be recognized that the disclosed technology may be implemented without the additional structures 164, and instead, the calibration tool 150 may be carried by an operator or positioned in some other manner at different locations around the performance scene.

[0049] In any case, in each of a plurality of positions during the sensor mode portion of the calibration process, the plurality of emitters 154, 156 are instructed to emit light so that the media controller 112 or any other suitable processing circuitry of the media system 8 can track the calibration tool 150 (e.g., the body of the calibration tool 150). Additionally, during the sensor mode portion of the calibration process, simultaneously and in each of a plurality of positions, the projector 16 is instructed to emit light (e.g., a structured light scan) toward the calibration tool 150 into the performance scene. The sensor 158 detects the light emitted by the projector 16, and the sensor 158 provides data (e.g., sensor data; signals) to the media controller 112 or any other suitable processing circuitry of the media system 8. The data is processed to determine which pixels of light from the projector 16 impinge on the sensor 158 (e.g., the x, y pixel location of that location of the sensor 158). These techniques provide a real-world offset position of the sensor 158 (e.g., relative to an origin and a coordinate system established for the tracking camera 64). Thus, this can be used to set the origin and coordinate system of projector 16 within the performance scene (e.g., determine the pose of projector 16 relative to the origin and coordinate system). In this way, both tracking camera 64 and projector 16 are calibrated for the performance scene (e.g., based on a common origin and coordinate system).

[0050] The origin may be established in a coordinate system that does not change during the loop of the attraction 10 (e.g., two-dimensional or three-dimensional; a relative coordinate system of the attraction 10). The tracking camera 64 then tracks the animated character 12 within the coordinate system with reference to the origin and the coordinate system. Figure 6, projector 16 may also reference an origin and a coordinate system to enable projector 16 to accurately project image 14 onto animated figure 12 during a cycle of attraction 10 (e.g., at all times and in all poses). In this manner, tracking camera 64 and projector 16 are calibrated and aligned with each other. In operation during a cycle of attraction 10, when tracking camera 64 detects that animated figure 12 (e.g., a particular vertex) is located at a first set of coordinates, media controller 112 may then instruct projector 16 to project an image onto animated figure 12 at the first set of coordinates. Because tracking camera 64 and projector 16 have been calibrated and aligned with each other, the image is correctly aligned and mapped onto animated figure 12.

[0051] It should be appreciated that the media controller 112 may generally operate as a two-dimensional solution (e.g., in an XY coordinate system) such that the avatar 12 is captured using the tracking camera 64, features or markers of the avatar 12 are identified in two-dimensional space using the shared X / Y origin of the tracking camera 64 and the projector 16, and the image is directly mapped to the avatar 12 in two-dimensional space. In an embodiment, the media controller 112 may generally operate as a three-dimensional solution (e.g., in an XYZ coordinate system). In this case, machine learning may be used to solve for an estimate of the pose of the avatar 12 in three-dimensional space. When the avatar 12 has a face, this may generally be a form of facial tracking, where the machine learning model is trained on a large number of labeled and tagged facial images, noting poses, expressions, proportions, and surface features. The resulting pose estimates may then be used to project masks or digital costumes and effects elements in real time.

[0052] Figure 71 is a front view of an embodiment of a calibration tool 150 that can be used as part of the media system 8. As shown, the calibration tool 150 includes a body 170 (e.g., a rigid body). The body 170 may include a handle portion 172 configured to be grasped by the operator 152. The body 170 may also include or be coupled to a cable 174 that transmits instructions and data between the cable 174 and other devices and / or systems (such as, the media controller 112). For example, the cable 174 may transmit instructions from the media controller 112 to cause certain transmitters 154, 156 (e.g., all of the transmitters 154; both of the transmitter 154 and the additional transmitter 156) to emit light and / or may transmit data from the sensor 158. It should also be recognized that the cable 174 may provide power to the calibration tool 150. In addition, in one embodiment, the calibration tool 150 may include a communication device configured to communicate via a wireless protocol (e.g., Wi-Fi; Bluetooth) and / or an internal power source (e.g., a battery, such as a rechargeable and / or replaceable battery). In some such cases, the calibration tool 150 may not include or may not be coupled to the cable 174 (or any cable). Furthermore, while the cable 174 is shown extending from the handle portion 172 for ease of discussion, it should be appreciated that the cable 174 may extend from any suitable portion of the calibration tool 150 (e.g., other than the handle portion 172 or an end portion so that the handle portion 172 or the end portion may be more easily assembled into the bracket 162 or otherwise coupled to the structure 160).

[0053] As shown, the body 170 includes a cross-shaped design having a first arm 176 (e.g., a horizontal arm) and a second arm 178 (e.g., a vertical arm) transverse to (e.g., orthogonal to) the first arm. The first arm 176 and the second arm 178 may be separate structures fastened (e.g., bolted) to each other, or the first arm 176 and the second arm 178 may be integrally formed (e.g., molded into a single piece). The transmitters 154 may be distributed in a single row or line on the calibration tool 150, such as distributed in a single row or line across the first arm 176. The transmitters 154 may be located at known relative positions on the calibration tool 150 (e.g., with known spacing), and the transmitters 154 may not be equally spaced from each other. For example, the first distance 180 between the first transmitter 154 and the second transmitter 154 may be different from the second distance 182 between the second transmitter 154 and the third transmitter 154. The different spacings may facilitate the calibration process by enabling detection of the orientation of the calibration tool 150 in the performance scene based on the different spacings reflected in multiple image frames captured by the tracking camera 64. The emitters 154 may form a first group of emitters 184 (eg, wand emitters; camera aiming emitters).

[0054] As shown, calibration tool 150 also includes an additional transmitter 156. Additional transmitter 156 can be used with any two of transmitters 154 to establish an origin for tracking camera 64. Additional transmitter 156 and two transmitters 154 can be arranged to form a triangle (e.g., a right triangle; not an equilateral triangle; each transmitter forms a point of the triangle). Additional transmitter 156 and transmitter 154 can be located at known relative positions on calibration tool 150 (e.g., with known spacing), and additional transmitter 156 and transmitter 154 may not be equally spaced from each other. For example, a first distance 180 between first transmitter 154 and second transmitter 154 may be different from a third distance 186 between additional transmitter 156 and second transmitter 154. Different spacings can facilitate the calibration process by enabling the detection of the orientation of calibration tool 150 in the performance scene based on the different spacings reflected in multiple image frames captured by tracking camera 64. The additional emitter 156 and the two emitters 154 may form a second group of emitters 188 (eg, camera origin emitters).

[0055] As shown, calibration tool 150 also includes sensor 158. Sensor 158 may represent one or more sensors. For example, sensor 158 may represent or include multiple sensors that detect light corresponding to multiple pixels of light from projector 16. As another example, sensor 158 may represent or include a sensor that detects light corresponding to one pixel of light from projector 16 (e.g., a smaller sensor area) or multiple pixels of light from projector 16 (e.g., a large sensor area). As another example, sensor 158 may represent or include a sensor that detects aligned / corresponding pixels of light from projector 16 in multiple structured light scans from projector 16. In any case, sensor 158 can be used to establish the origin of projector 16.

[0056] exist Figure 7 , the transmitter 154 and the additional transmitter 156 are positioned on the front side (e.g., surface) of the calibration tool 150, and the sensor 158 is positioned on the back side (e.g., surface) of the calibration tool 150 opposite to the front side of the calibration tool 150. Figure 1, this may facilitate completing the calibration process in a show scene that includes tracking camera 64 on one side of the show scene and projector 16 on another side (e.g., the opposite side) of the show scene. Generally, it may be desirable to position tracking camera 64 behind animated character 12 so that tracker 60 is placed on the rear surface of animated character 12 (e.g., not visible to a visitor viewing the front surface of animated character 12), and to position projector 16 in front of animated character 12 to project light onto the front surface of animated character 12 (e.g., visible to a visitor). However, emitter 154, additional emitter 156, and sensor 158 may be positioned on one side (e.g., the same side or surface) of calibration tool 150 to facilitate completing the calibration process in a show scene that includes tracking camera 64 and projector 16 located on one side (e.g., the same side) of the show scene. In practice, the transmitter 154, additional transmitter 156, and sensor 158 may be positioned on any side of the calibration tool 150 (e.g., the same side or surface; different sides or surfaces, including opposite sides or surfaces and / or any front / side / rear sides or surfaces) to facilitate completion of the calibration process in a performance scene including tracking cameras 64 and projectors 16 located at various locations in the performance scene.

[0057] The disclosed techniques provide a real-world offset position of sensor 158. When sensor 158 detects light emitted by projector 16, data output by sensor 158 indicates the pixels aligned with sensor 158. Thus, media controller 112 or other suitable processing circuitry of media system 8 may align projector 16 with an origin (e.g., to establish a common origin for tracking camera 64 and projector 16).

[0058] It should be appreciated that variations of calibration tool 150 are contemplated, including variations in the number and / or arrangement of transmitters 154, additional transmitters 156, and sensors 158. For example, transmitters 154 may be arranged in a single row or line along second arm 178. As another example, additional transmitter 156 may be used with more additional transmitters 156 (e.g., in place of a transmitter 154 that is also used to calibrate tracking cameras 64 to one another; a transmitter 154 may not be reused in additional portions of the calibration process). More specifically, calibration tool 150 may include three or more transmitters 154 from a first set of transmitters 184 to calibrate tracking cameras 64 to one another, and may include three or more additional transmitters 156 from a second set of transmitters 188 to establish an origin for tracking cameras 64 (e.g., a total of at least six transmitters 154, 156, rather than a plurality of transmitters 154, 156). Figure 7150). In addition, sensor 158 may be co-located with one of emitters 154, 156. For example, sensor 158 may be positioned on the back side of calibration tool 150, directly opposite or behind additional emitter 156 on the front side of calibration tool 150. In addition, as noted above, emitter 154, additional emitter 156, and sensor 158 may be positioned on one side (e.g., the same side or surface) of calibration tool 150.

[0059] Active light emitting emitters 154, 156 may facilitate detection by tracking camera 64. However, it should be appreciated that one or more of emitters 154, 156 may be replaced by a passive device that does not emit light or any signal detectable by tracking camera 64. For example, retroreflective markers may be positioned at the illustrated positions of emitters 154, 156, and the retroreflective markers reflect light detectable by tracking camera 64. In this case, calibration tool 150 may include a removable cover (e.g., movable via an electronically controlled actuator and / or manually adjusted) to cover retroreflective markers that are not desired or used during the current portion of the calibration process. For example, during an initial portion of the calibration process, the retroreflective marker positioned at the illustrated position of additional emitter 156 would be covered, while during additional portions of the calibration process, at least one of the retroreflective markers positioned at the illustrated position of one of emitters 154 would be covered.

[0060] Sensor 158 may be a visible light sensor (e.g., a photodiode) so that sensor 158 can detect light from projector 16 (e.g., light from projector 16 may only be in the visible light spectrum). Additionally, emitters 154, 156 may be infrared (IR) light emitting diodes (LEDs) so that tracking camera 64 detects light from emitters 154, 156 (e.g., the tracking camera may only capture light of wavelengths associated with IR light). However, sensor 158 may detect any type of light (e.g., a first type of light), and emitters 154, 156 may emit any type of light (e.g., a second type of light that is the same as or different from the first type of light).

[0061] Emitters 154, 156 and sensor 158 provide different functions. For example, the purpose of emitters 154, 156 is to provide tracking points or "markers" for tracking camera 64. Any of a variety of IR LEDs can be used as emitters 154, 156, and the emitter light output (beam angle) is equivalent to the IR LED specifications. In an embodiment, emitters 154, 156 can emit light with a wavelength of about 850 nanometers (nm). Sensor 158 is used to detect visible light from projector 16. The diameter of sensor 158 (e.g., approximately 1 millimeter [mm]) can be sized to correspond to the size of 1 pixel for a target pixel pitch (e.g., 0.05 inches or 1.27 mm per pixel); however, sensor 158 can be larger or smaller than 1 pixel. In another embodiment, the diameter of sensor 158 can be approximately 0.5 mm. Sensor 158 can have a peak response in the spectrum visible to the human eye. Ideally, sensor 158 is a high-resolution (16-bit) ambient light sensor and provides a linear response in the range of 0-65k lux. In embodiments, sensor 158 may have increased reading values ​​when light moves closer to the center of sensor 158, which may achieve sub-pixel (e.g., pixel for projector accuracy). In embodiments, sensor 158 may be a small sensor array (e.g., a phototransistor array) to achieve similar results. In embodiments, sensor 158 is not affected by IR light (including light leakage from emitters 154, 156). In embodiments, sensor 158 is not a photoresistor or a phototransistor.

[0062] In an embodiment, the emitters 154, 156 are always on (emitting light). Alternatively, the emitters 154, 156 may be controllable, such as by a simple negative-positive-negative (NPN) digital I / O bit. In an embodiment, the sensor 158 is configured to convert visible light into an analog signal that is either directly output as an analog output (e.g., 0-5V, 0-10V, 0-15V, 0-20V, 5-10V, 5-15V, 5-20V) or sensed as a threshold on a sensor amplifier. Once an adjustable threshold is detected, the NPN digital output is triggered. The sensor bandwidth or scan rate may be at least 50Hz, and ideally at least 100Hz (or at least 150Hz, 200Hz, 250Hz). The compatible voltage of the system may be 24Vdc or 5Vdc or any other suitable Vdc. For example, the emitters 154, 156 and the sensor 158 may also be supported on a printed circuit board (PCB) to facilitate coordination of the emission of light by the emitters 154, 156 and the processing and transmission of light detected via the sensor 158. The PCB may also provide a rigid substrate that maintains the fixed relative positions of the emitters 154, 156 and the sensor 158.

[0063] Figure 8 Yes Operation Figure 1 8. The method 200 includes various steps represented by boxes. It should be noted that the method 200 can be performed by a system (such as Figure 1 The method 200 is performed as an automated process by a media system 8 of the present invention. Although the flowchart shows the steps in a certain order, it should be understood that the steps can be performed in any suitable order, and some steps can be performed simultaneously under appropriate circumstances. In addition, some steps or parts of the method 200 can be performed by a separate system or device.

[0064] In box 202, method 200 may begin by moving a calibration tool within an environment (e.g., a show scene of an attraction) to calibrate multiple tracking cameras to each other. As part of an initial portion of the calibration process, an operator (e.g., a human operator; an autonomous or remotely controlled robot) may carry the calibration tool within the environment. The operator may move the calibration tool around within the environment, such as waving the calibration tool back and forth while traveling through the environment. To facilitate the initial portion of the calibration process, the calibration tool includes multiple transmitters, such as at least three transmitters. The multiple transmitters may be arranged on the calibration tool in a single row or a single row and located at known relative positions. In one embodiment, the multiple transmitters may be light transmitters (e.g., light emitting diodes [LEDs]). For example, the multiple transmitters may be light transmitters that emit infrared (IR) light that can be detected by the tracking cameras (and is invisible or undetectable to tourists).

[0065] As the calibration tool moves through the environment, each of the tracking cameras captures multiple image frames (e.g., tens, hundreds, thousands). The media controller or any other suitable processing circuitry may process the multiple image frames to calibrate the tracking cameras to each other. For example, the media controller or other suitable processing circuitry may compare the multiple frames to each other to determine the relative positions of the tracking cameras (e.g., comparing multiple frames from different tracking cameras with the calibration tool at a first position, then comparing multiple frames from different tracking cameras with the calibration tool at a second position, and so on).

[0066] In box 204, method 200 can continue by setting the calibration tool at a location within the environment (e.g., an origin setting location). As part of this additional portion of the calibration process, the calibration tool can be fastened (e.g., bolted) and / or otherwise fixed (e.g., via an interference fit) to a structure (e.g., a stationary structure) in the environment. In one embodiment, the structure can be mounted (e.g., fastened, such as bolted) to a stage floor or other surface in the environment so that the structure remains stationary relative to the environment. In one embodiment, the structure may include a bracket configured to support a portion of the calibration tool. In this way, the calibration tool can be rigidly coupled to the structure and maintained at the location within the environment. However, it should be recognized that the calibration tool can be positioned and maintained at the origin setting location via any suitable technique.

[0067] In box 206, method 200 can continue by detecting or establishing an origin with the tracking camera. During this additional portion of the calibration process, at least three transmitters on the calibration tool may be visible to the tracking camera. In one embodiment, the at least three transmitters may include two of the transmitters used in box 202 and the additional transmitter in a triangular arrangement (e.g., as three points forming a triangle across the calibration tool). The tracking camera can capture an image frame, and the media controller or any other suitable processing circuit uses the corresponding positions of the at least three transmitters in the image frame to set the origin of the tracking camera within the environment. For example, the origin can be set to coincide with the corresponding center of the additional transmitter, the corresponding center of the sensor, or any other suitable location. In addition, because the at least three transmitters have known relative positions and / or spacings on the calibration tool, the media controller or any other suitable processing circuit uses the corresponding positions of the at least three transmitters in the image frame to set a coordinate system based on the origin of the tracking camera within the environment.

[0068] In block 208, method 200 may continue by moving calibration tool 150 to a plurality of additional locations in the performance scene (e.g., at least six additional locations in the performance scene). Further, at each of the plurality of additional locations in the performance scene, block 208 of method 200 may include emitting light from at least an emitter (e.g., a plurality of emitters; all emitters on the calibration tool), and also detecting light output by the projector (e.g., a structured light scan) via a sensor of the calibration tool to calibrate the projector (e.g., determine a pose of the projector relative to an origin and a coordinate system; establish a common origin and coordinate system for the tracking camera / motion tracking system and the projection / projector system). As part of this sensor mode portion of the calibration process, the projector is instructed to emit light (e.g., a structured light scan) into the environment toward the calibration tool. Blocks 202, 204, 206, and 208 may be performed in a coordinated manner via electronic control signals from a media controller (e.g., automatically) and / or via manual input from an operator (e.g., manually).

[0069] In any case, the sensor detects the light emitted by the projector, and the sensor provides data (e.g., sensor data; signal) to the media controller or any other suitable processing circuit. The data is processed to determine which pixels of the light emitted by the projector impinge on the sensor. This technique provides the real-world offset position of the sensor. Therefore, this can be used to set the origin and coordinate system of the projector within the environment (e.g., determine the pose of the projector relative to the origin and coordinate system). In this way, both the tracking camera and the projector are calibrated to the environment (e.g., based on a common origin and coordinate system). In particular, an algorithm in the media controller makes the two equal to each other (e.g., associated with each other) so that the coordinates (X, Y, Z) of the origin of the tracking camera in space are equal to the pixel position (X1, Y1) relative to the projector raster.

[0070] During the loop of the attraction, neither the origin nor the coordinate system changes. Therefore, the tracking camera references the origin and the coordinate system to track the animated figure within the coordinate system. In addition, the projector may also reference the origin and the coordinate system to enable the projector to accurately project the image onto the animated figure during the loop of the attraction (e.g., at all times and in all poses). In this way, during the loop of the attraction, when the tracking camera detects that the animated figure (e.g., a particular vertex) is located at a first set of coordinates, the media controller may then instruct the projector to project the image onto the animated figure at the first set of coordinates. Since the tracking camera and the projector have been calibrated and aligned with each other, the image is correctly aligned and mapped onto the animated figure.

[0071] Advantageously, the calibration tool disclosed herein includes a transmitter operable both as a calibration wand for tracking a camera (e.g., via a single row of transmitters), as a calibration triangle for tracking a camera (e.g., via three transmitters forming the points of the triangle), and as a projector calibration for a projector (e.g., via a sensor). It should be appreciated that reference is made to Figure 1-8 Any features shown or described may be combined in any suitable manner. Although only certain features of the present disclosure are shown and described herein, many modifications and variations will occur to those skilled in the art. Therefore, it will be understood that the appended claims are intended to cover all such modifications and variations as fall within the true spirit of the present disclosure.

[0072] The technology presented and claimed herein is cited and applied to specific examples of material objects and actual properties, which significantly improve the art, and thus are not abstract, intangible, or purely theoretical. In addition, if any claim attached at the end of this specification contains one or more elements designated as "means for [performing] [the function] ..." or "steps for [performing] [the function] ...", such elements are intended to be interpreted under 35 U.S.C. § 112(f). However, for any claim containing elements designated in any other manner, such elements are not intended to be interpreted under 35 U.S.C. § 112(f).

Claims

1. A calibration tool for a dynamic projection mapping system, the calibration tool comprising: Rigid body; at least three light emitters disposed in a row on the rigid body; an additional light emitter disposed on the rigid body and offset from the row of at least three light emitters; as well as A sensor is disposed on the rigid body and configured to detect the projected light.

2. The calibration tool according to claim 1, wherein the rigid body comprises a first side and a second side opposite to the first side, the row of at least three light emitters and the additional light emitter are arranged on the first side, and the sensor is arranged on the second side.

3. The calibration tool of claim 1, wherein two light emitters in the row of at least three light emitters and the additional light emitter are configured to form a triangle of emitters.

4. The calibration tool of claim 1, wherein the at least three light emitters and the additional emitter are configured to emit infrared light.

5. The calibration tool of claim 1, wherein the sensor is configured to detect visible projected light.

6. The calibration tool of claim 1, wherein the rigid body includes a handle portion configured to be grasped by an operator.

7. A calibration tool according to claim 1, wherein the rigid body includes a first arm and a second arm transverse to the first arm.

8. A dynamic projection mapping system, comprising: a projector configured to project visible light; Calibration kit, which includes: a plurality of emitters configured to emit infrared light; and a sensor configured to detect visible light projected by the projector; a plurality of tracking cameras configured to generate image data indicative of infrared light emitted by the plurality of emitters; and A processing circuit is configured to establish a common origin for the projector and the plurality of tracking cameras based on sensor data received from the sensor and image data received from the plurality of tracking cameras.

9. The dynamic projection mapping system of claim 8, wherein the calibration tool comprises a rigid body having a first side and a second side opposite the first side, the plurality of emitters are positioned on the first side, and the sensor is positioned on the second side.

10. The dynamic projection mapping system of claim 8, wherein the plurality of emitters includes at least three emitters in a row and additional emitters offset from the row of at least three emitters.

11. The dynamic projection mapping system of claim 10, wherein two emitters in the row of at least three emitters and the additional emitter are arranged to form a triangle of emitters.

12. The dynamic projection mapping system of claim 11 , wherein the processing circuit is configured to instruct the at least three emitters in the row to emit the infrared light, and to calibrate the multiple tracking cameras to each other based on additional image data generated by the multiple tracking cameras while the at least three emitters in the row are emitting the infrared light, and subsequently, the processing circuit is configured to instruct the triangle of emitters to emit the infrared light, and to establish the common origin for the multiple tracking cameras based on the image data generated by the multiple tracking cameras while the triangle of emitters is emitting the infrared light.

13. The dynamic projection mapping system of claim 8, wherein the calibration tool includes a handle portion configured to be grasped by an operator.

14. The dynamic projection mapping system of claim 8, wherein the plurality of tracking cameras are configured to track the prop based on detection of one or more trackers coupled to the prop, and the projector is configured to project an image onto the prop as the prop moves through an environment.

15. The dynamic projection mapping system according to claim 8, comprising: Props configured to move through the environment; as well as one or more trackers on the prop, wherein the plurality of tracking cameras are configured to generate additional image data representative of the one or more trackers in the environment based on detection of the one or more trackers on the prop by the plurality of tracking cameras; The processing circuit is configured to determine a position of the prop relative to the common origin based on the additional image data, and to instruct the projector to project the visible light onto the prop based on the position of the prop relative to the common origin.

16. A method of operating a projection system and an optical tracking system for dynamic projection mapping, the method comprising: instructing, via the processing circuit, a set of emitters of the calibration tool to emit light into the environment; receiving, from a plurality of tracking cameras and at the processing circuit, image data indicating a respective position of each emitter in the set of emitters in an environment; instructing a projector via the processing circuit to project visible light into the environment; receiving, from a sensor of the calibration tool and at the one or more processors, sensor data indicative of the visible light detected by the sensor; as well as A common origin is established in the environment for the plurality of tracking cameras and the projector based on the image data and the sensor data via the processing circuit.

17. The method according to claim 16, comprising: instructing, via the processing circuit, at least three emitters in a row of the calibration tool to emit corresponding lights in the environment; as well as receiving, from the plurality of tracking cameras and at the processing circuit, initial image data indicative of a respective position of each emitter in a row of emitters in the environment; as well as The plurality of tracking cameras are calibrated to each other via the processing circuit based on the initial image data.

18. The method of claim 17, comprising calibrating the plurality of tracking cameras to each other based on the initial image data before instructing the emitter set of the calibration tool to emit light in the environment.

19. The method according to claim 16, comprising: tracking a prop in the environment relative to the common origin based on detection of one or more trackers coupled to the prop via the plurality of tracking cameras and the processing circuitry; and As the prop moves through the environment, the projector is instructed via the processing circuitry to project an image onto the prop based on the position of the prop relative to the common origin.

20. The method of claim 16, wherein the emitter group comprises three emitters arranged to form points of a triangle.

Images