System and method for projection mapping actuatable objects

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.

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.