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Visual monitoring of an object manipulated by a multi-fingered hand has a problem of occlusions caused by the fingers. In this paper, we present a new planning method, based on the 3-dimensional model of the environment, to focus attention in such a monitoring task. We formulate the planning of focus of attention as a scheduling problem for the whole task period rather than for a specific time. We introduce a Genetic Algorithm to cope with a combination explosion of the image features considered at all time steps. The Genetic Algorithm is a population based search method which finds solutions efficiently in a large search space by simulating some features of biological evolution. The algorithm consists of selection, crossover, and mutation procedures. To solve the planning problem, we have implemented the algorithm using a coding scheme for a gene to produce consistent offspring after the crossover. Experimental results demonstrate the usefulness of the proposed method by finding the pseudo optimal plan within a short computation time.

Planning Focus of Attention with Consideration of Time Varying Aspects