[lightcatcher]

Thank you for the explanation. I was mostly thinking about the case of tracking something like a piece of paper in front of a wooden desk.

I can see how tracking the scale and orientation of field of view filling single color objects would be difficult/impossible.

It doesn't seem like these worst case scenarios would come up much in real world use. It's fairly rare to encounter situations where one's entire field of view is filled with one (featureless) color. I would image that a wide field of view for the cameras would help greatly with this problem.