Edge-based placement of camera and light source for object recognition and location

The selection and placement of cameras and light sources for a vision task is an essential step in both autonomous visual sensing and standard industrial applications. A technique is presented that determines the three-dimensional region of light-source locations such that one or more specified object edges will be detected with a given edge operator. The method uses a task description that includes a list of object edges and the edge operator to be used in order to derive constraints on image contrast, surface irradiance, and light-source location. The combination of this method with prior results on camera and light-source placement can be applied to object recognition and location tasks