Method for monitoring and adjusting the position of an object under optical observation for imaging

A method of imaging a surface of a three-dimensional object by automatically manipulating a relative displacement and orientation between the surface of a three-dimensional object and a camera used for imaging said surface by imaging a plurality of segments thereof with a predetermined angular orientation between said surface at said segments and an optical axis of said camera, the method comprising the steps of:

• a) manipulating said relative displacement and orientation along a predetermined scanning path;
• b) measuring a distance between said surface and said camera along said optical axis at a plurality of points over said scanning path;
• c) determining a mathematical function approximating said surface over at least a portion of said scanning path;
• d) calculating using said function desired relative displacements and orientations for said portion of said scanning path to obtain an imaging path, said predetermined angular orientation between said surface at said segments and an optical axis of said camera being on average better respected over said imaging path than over said scanning path;
• e) manipulating said object through said relative displacement and orientation along said imaging path;
• and
• f) imaging said segments of said surface at said angular orientation along said imaging path.