Practically the only time I purposely look at a keyboard is if I'm having trouble hitting a certain key (numrow 5, 6, 7, 8 still give me trouble sometimes), or am doing a key combination that isn't really in muscle memory. In those cases. I actually count off individual keys from the left side of the board until I see the key I want. More commonly, I'll hit a key, realize I've hit the wrong one, offset my hand position accordingly, backspace, and hit the right one.
I have 2-3 boards on my desk as a matter of course. If I do look at a board for reference (not common, I have ANSI qwerty pretty much committed to memory at this point), I'll usually look to the board pushed back. It's a smaller movement, and my hands aren't covering it already. Just easier that way.