Future service robots typically will have to operate in unconstrained, non-cooperative environments; in many applications the robots will share a common habitat and even interact with humans. Typical required functionalities are
a reliable detection and sufficiently accurate localization of obstacles which guarantee collision avoidance and allow for safe and efficient movements of arms, hands and body,
a robust recognition and localization of objects in the environment (and the identification of free space) as a basis for grasping & transfer and for navigation,
the detection and tracking of people e.g. for situation recognition, and
the recognition and identification of people, e. g. of authorized users.