Algorithm 1 Core principle of dynamic ROI

Require: Initial frame $I_0$ without noise

Require: Subsequent frames $\{I_1,I_2,...,I_n\}$

Ensure: Real-time laser stripe tracking

Initialization:

1: Extract initial ROI from $I_0$:

2: ${\mathrm{ROI}}_{\mathrm{prev}}\leftarrow \mathrm{ProcessFrame}(I_0)$

Iterative Processing:

3: for each frame $I_t$ at time $t\ge 1$ do

4:           Apply previous ROI:

5:                 ${\mathrm{Cropped}}_t\leftarrow I_t\cap {\mathrm{ROI}}_{\mathrm{prev}}$

6:           Extract new stripe region:

7:                 ${\mathrm{Stripe}}_t\leftarrow \mathrm{DetectLaser}({\mathrm{Cropped}}_t)$

8:           Propagate ROI to next frame:

9:                 ${\mathrm{ROI}}_{\mathrm{prev}}\leftarrow \mathrm{CalculateNewROI}({\mathrm{Stripe}}_t)$

10: end for