Determining the camera and light source location for a visual task

Techniques for calculating the three-dimensional region of acceptable locations for vision sensors and light sources are discussed. An integrated method to position both a camera and a light source based on the requirements of a given vision task is described. The method also selects the appropriate lens aperture. The proposed techniques require only a small amount of computation (approximately 1 minute of elapsed time on a time-shared VAX 8600). The proposed approach is illustrated with an example object and experimental results are described for that object