Nothing is more indisputable than the existence of our senses. Twenty years is a long time in high technology. Not in the foreseeable future is my answer.
Vision is the most demanding sensory modality.
Sheer quantity of information has been the problem to overcome, outweighing all other modalities combined. We now have a receiving bandwidth of approximatley 24 megabytes per second. As recently as the early 1980's color vision was not even part of the robot system. And Horn comments from that era on the recency of interest in machine vision of any kind. Twenty years ago, papers on machine vision were few in number and scattered widely.