Using adjustable vision component for on-demand vision data capture of areas along a predicted trajectory of a robot

A robot, comprising:

• a frame;
• a fixed vision component that captures instances of first vision data and has a fixed pose relative to the frame;
• an adjustable vision component that maneuvers through various poses relative to the frame while the fixed vision component is capturing the instances of first vision data,
• wherein the fixed vision component has a first field of view that is more constrained than a second field of view of the adjustable vision component, and
• wherein the adjustable vision component captures instances of second vision data;
• and
• one or more motors that control a trajectory of the frame based on the instances of the first vision data and the instances of the second vision data.

A method implemented by one or more processors, the method comprising:

• determining, while a robot is traversing through an area, whether one or more spaces within the area are predicted to affect a route of the robot while the robot is traversing the area,
• wherein the robot includes a first vision component and a second vision component for observing the one or more spaces, and the first vision component is different than the second vision component;
• and
• when the area is determined to include one more spaces that are predicted to affect the route of the robot:
• determining, for each space of the one or more spaces, a predicted amount of robot resources consumed by redirecting the second vision component in a direction of a respective space of the one or more spaces while the robot is traversing through the area,
• selecting, based on determining the predicted amount of robot resources consumed for each space, a particular space of the one or more spaces,
• wherein a particular amount of robot resources predicted for the particular space indicates that less robot resources will be consumed by the robot when redirecting the second vision component toward the particular space relative to redirecting the second vision component toward one or more other spaces of the one or more spaces,
• causing, based on selecting the particular space, the second vision component to be redirected towards the particular space in furtherance of capturing, by the second vision component, vision data corresponding to the particular space, and
• controlling the robot based on the vision data of the particular space, while the robot is traversing through the area.