Towards a Vision System for a Domestic Robot

We shall discuss a way to set up a reliable 3D office scene recognition and interpretation scheme for a home robot with the use of articicial vision only. It is a very difficult problem which has been studied by numerous scientists for many years. We do not pretend to describe the solution of this problem in the present paper, but simply to express our State of mind. Our efforts are concentrated on the manner to produce a well posed problem and on the use of an analysis/synthesis feedback loop in order to solve it. It is expected to produce a more robust solution than the visual open loop solutions already available in the literature.