In: Proceedings of the 9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP-2014), Special Session on Active Robot Vision (WARV 2014), January 5-9, Lissabon, Portugal, Pages 513-518, ISBN 978-989-758-002-4, SCITEPRESS - Science and Technology Publications, 1/2014.