Robotic Vision: What Happened to the Visions

We will exaiuiue the hopes arid dreams of a decade ago wlreu there was a lot of exciteiueiit in the COIIIIIIUiiity about what could be accomplished with niodelbased visioii ill robotics. Mauy of those dreams have iiot yet materialized because of a lack of availability of “visioil“ itiodcls (as opposed to CAD models): difficulty of coiistructiug vision models, iuadequate robustness of model-based recogiiitioti aiid poseestiuiatioti schemes, excessive sensitivity of recoguitiori arid pose-estimation sclieiues to variatious in auibieiit illuiiiiiiatioii and object surface couditiou, etc. .4gaiust a background of these difficulties: we will chart out tlie progress that has been iiiade iu the areas of visual servoiiig, bill-picking, iiiobile-robot nayigatioti, etc.