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In this paper, we propose a new approach to dynamically manage the viewpoint of a vision system for optimal 3-D tracking using particle techniques. We adopt the effective sample size in the proposed particle filter as a criterion for evaluating tracking performance and employ it to guide the view-planning process for finding the best viewpoint configuration. In our approach, the vision system is designed and configured to achieve the largest number of effective particles, which minimizesdoi:10.1109/tsmcb.2008.2005113 pmid:19068437 fatcat:rv76mxiytfbbjcdpinwts64lsm