Methods for perceiving humans in the environment are based on sensor information. Research on sensing components and software led by Microsoft provide useful results for extracting the human kinematics (see Kinect). An example of older technique is to use colour information for example the fact that for light skinned people the hands are lighter than the clothes worn. In any case a human modelled a priori can then be fitted to the sensor data. The robot builds or has (depending on the level of autonomy the robot has) a 3D mapping of its surroundings to which is assigned the humans locations.