Reactive view planning for quantification of local geometry

We present a view point planning strategy for determining the true angle between legs of junctions in a polyhedral scene. The strategy results in a reactive visual behaviour guiding the camera towards a canonical view point producing a fronto-parallel projection of object faces. From these views the angle in the image is identical to the true angle, thus the method does not involve reconstruction. Qualitative visual events, e.g., zero-crossings in the rate-of-change of measured, apparent angle, are used to control the motion of the camera, resulting in independence of positional feedback