The present invention provides a computer-implemented method, a system, and a computer program product for path planning According to the computer-implemented method, a target discriminator is selected from a set of discriminators with different kernel sizes based on a target image obtained from an image capturing device. In this case, a confidence of the target image is determined using the target discriminator. The confidence indicates whether the target image contains a target object to be captured. Thereby, a movement indication for moving the image capturing device to capture the target object is determined based on the confidence of the target image.