The so called “Home-Tour” represents a scenario in which a standard customer has purchased a new robot, for assisting in a private home environment. As a first step towards autonomous operation the robot has to be familiarized with its working environment. Since private surroundings vary a lot, only a very limited amount of knowledge can be provided in advance. Consequently, the robot has to adapt to the possessor's individual home. Moreover, it has cope with disarranged or newly bought furniture without an expert modifying the system.
