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The problem of finding a next best viewpoint for 3D modeling or scene mappinghas been explored in computer vision over the last decade. This paper tackles asimilar problem, but with different characteristics. It proposes a method fordynamic next best viewpoint recovery of a target point while avoiding possibleocclusions. Since the environment can change, the method has to iterativelyfind the next best view with a global understanding of the free and occupiedparts.  We model the problem as a set of possible viewpoints which correspond to thecenters of the facets of a virtual tessellated hemisphere covering the scene.Taking into account occlusions, distances between current and futureviewpoints, quality of the viewpoint and joint constraints (robot arm jointdistances or limits), we evaluate the next best viewpoint. The proposal hasbeen evaluated on 8 different scenarios with different occlusions and a short3D video sequence to validate its dynamic performance.

Best Viewpoint Tracking for Camera Mounted on Robotic Arm with Dynamic Obstacles