Robotic device with machine vision

A system for machine vision for a controllable robot apparatus in the vicinity of a working chamber comprises an image sensor, which is arranged to detect periodic signal inputs to see, each of which includes an image of a field of view which includes the working space. A controller is operatively coupled to the robotic device and contains a non-transient memory component that contains an executable routine sense of sight. The sense of sight routine includes a routine for focusing control in a loop that can be used to track a focusing object in the work space dynamic, and a routine for the background control in a loop that can be used to monitor a background of the workspace. The routine for focusing control loops asynchronously and executed simultaneously in parallel with the routine for the background control in a loop in order to determine a combined result, which contains the focusing object and the background on the basis of the periodically sensed signal inputs to see. The controller can be operated to control the robotic device to manipulate the focus object on the basis of the routine for focusing control in a loop.