Since I do not use Nicads, I adopt the same practice for my rechargeables, I recharge mine (Li-Ions & Nimhs) as soon as they dim. In fact I recharge my R123 Li Ions immediately after every use whether they dims or not, as long as I used them.
I will do so the same with my Nimhs AAs if not for the fact that they are in EL Adapters and Willie Hunt Adapters, makes me lazy to remove them, so I recharge them when they dims significantly.
The only exception is when they are brand new on their first charge, I tend to use them till they really dims before I recharge them. I do not know if I am doing the right thing, but it feels right.