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Real-time surface tracking with uncoded structured light

A technique for tracking the orientation and position of a nearplanar surface in real-time is presented. It uses the principle of structured light to determine 3D surface shape, by the projection of a dense pattern of uniform (uncoded) stripes. In order to estimate pose a weighted least-squares plane is fitted to the 3D data. As an example the technique is applied in a gaming environment where the user moves and rotates his/her open hand in the field of view of the structured light system to control the yaw, pitch and speed of a model aircraft in real-time.