Robotic manipulation around the home and ofice requires perception of the environment and objects within it. In this talk, Konolige highlights the key roles played by visual registration. The irst role is in keeping track of where the robot is, and for understanding how multiple views of the environment correspond to each other. The second is in inding and manipulating objects in the world. Registration and recognition methods will be illustrated with examples from Willow Garage’s PR2 robot.