Dynamic Sensor Placement Using Controlled Active Vision

The working region of a camera providing visual feedback to guide manipulation tasks can be greatly extended if the camera can move in real-time. Proper camera motion depends on several different criteria, such as object motion, maximum manipulator tracking speed, manipulator configuration, camera depth-of-field, field-of-view, spatial resolution, occlusion avoidance, etc. In this paper, the controlled active vision framework is extended to include dynamically determined sensor placement criteria. The criteria considered include focus, spatial resolution, and manipulator configuration, as well as object motion. Experimental results are presented.