... realm of space exploration. Indeed, in the period of interest we have seen the suc-cessful landing of the Sojourner on Mars, with the wheeled robot Pathfinderroaming on the Martian landscape in ... Along the same lines, the in- frastructure of the International Space Station was set in orbit in 2000,with the installation of Canadarm2, the successor of Canadarm, followingsuit in 2001. Not ... capability of perceiving,which involves a certain element of subjectivity. By far, the most complex of perception tasks, both in humans and machines, is visual (Levine, 1985;Horn, 1986). In summary,...