  Recent approaches in robotics follow the insight that perception is
facilitated by interaction with the environment. These approaches are subsumed
under the term of Interactive Perception (IP). It provides the following
benefits: (i) interaction with the environment creates a rich sensory signal
that would otherwise not be present and (ii) knowledge of the regularity in the
combined space of sensory data and action parameters facilitate the prediction
and interpretation of the signal. In this survey we postulate this as a
principle and collect evidence in support by analyzing and categorizing
existing work in this area. We also provide an overview of the most important
applications of Interactive Perception. We close this survey by discussing
remaining open questions. Thereby, we hope to define a field and inspire future
work.
