Abstract
As a real world projection system, we have been studying a mobile robot, Campro-RIS, equipped with a camera-projector set on a pan-tilt actuator. In order to maintain the visibility of the user, our Campro-RIS has a function to automatically recognize an optical occlusion between the projector and the projection plane and skillfully avoid it. In this report, we propose a novel method for robustly detecting the occlusion based on brightness values of the projected image extracted from the whole camera image. Some successful experimental results are given to show the validity of the proposed method.
