Computing viewpoints that satisfy optical constraints

The authors present techniques with which camera viewpoints can be automatically determined in order to satisfy the generic feature detectability requirements of resolution, focus, and field-of-view. These optical constraints are characterized analytically for a general thick lens model, and complete viewpoint loci that satisfy these constraints are obtained. The results discussed are useful for automating the vision system design process, as well as for programming the vision system itself. In addition, such planning techniques can also automate robot imaging systems that reconfigure themselves in an intelligent manner in order to optimize imaging quality