There is no clean motor interrupt mechanism in the Firmware. You can move a bit then check and estimate distance via the camera and move again. You could write this using Farmware but be awear of the 20min
But why don’t you first grid map the bed with the camera and record the marked positions like how weeding is achieved? Then you can move to those recorded positions. This would be easier than autonomous moves and reduce the paralax problem if you trained the machine learning properly.