Advanced robotic systems require visual perception capabilities beyond plain 2D images or proximity sensors. They instead rely on 3D perception in order to enable the holistic perception of their surroundings that is eventually needed for high-level, task-related reasoning. 3D perception encompasses the acquisition of data based on commercially available or self-developed sensors, the creation of 3D models and formats in different representations, up to the use of these models/data for object recognition. The robotic applications of 3D perception include exploration, navigation, object manipulation, and telepresence.
