On-line planning of the pose of hand-eye system for determining the 3-D pose of a flexible object

Some online sensing planning methods for an active hand-eye system which determines the 3-D pose of a flexible object are described. Image coordinates and the pose information of the camera coordinate frame of a hand-eye system can be used to plan a new sensing pose in cases when the flexible object is extended outside the window. Some exceptional overlappings can be overcome by moving the camera to a new sensing position which can be computed by using the image coordinates of four extreme points of the current image and the pose of the camera coordinate frame.