One Click Focus with Eye-in-hand/Eye-to-hand Cooperation

A critical assumption of many multi-view control systems is the initial visibility of the regions of interest from all the views. An initialization step is proposed for a hybrid eye-in-hand/eye-to-hand grasping system to overcome this requirement. In this paper, the object of interest is assumed to be within the eye-to-hand field of view, whereas it may not be within the eye-in-hand one. The object model is unknown and no database is used. The object lies in a complex scene with a cluttered background. A method to automatically focus the object of interest is presented, tested and validated on a multi view robotic system.