  Machine vision is critical to robotics due to a wide range of applications
which rely on input from visual sensors such as autonomous mobile robots and
smart production systems. To create the smart homes and systems of tomorrow, an
overview about current challenges in the research field would be of use to
identify further possible directions, created in a systematic and reproducible
manner. In this work a systematic literature review was conducted covering
research from the last 10 years. We screened 172 papers from four databases and
selected 52 relevant papers. While robustness and computation time were
improved greatly, occlusion and lighting variance are still the biggest
problems faced. From the number of recent publications, we conclude that the
observed field is of relevance and interest to the research community. Further
challenges arise in many areas of the field.
