Tarabanis Kostantinos author Columbia University. Computer Science Tsai Roger Y. author Allen Peter K. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1991 English A method is presented to determine viewpoints for a robotic vision system for which object features of interest will simultaneously by visible, inside the field-of-view, in-focus, and magnified as required. A technique that poses the problem in an optimization setting in order to determine viewpoints that satisfy all requirements simultaneously and with a margin is presented. The formulation and results of the optimization are shown, as well as experimental results in which a robot vision system is positioned and its lens is set according to this method. Camera views are taken from the computed viewpoints in order to verify that all feature detectability requirements are satisfied. Robotics Los Alamitos, Calif. IEEE 1991 76 82 http://dx.doi.org/10.1109/ROBOT.1991.131556