{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,28]],"date-time":"2025-10-28T14:53:31Z","timestamp":1761663211130,"version":"3.40.3"},"publisher-location":"Cham","reference-count":38,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783319038377"},{"type":"electronic","value":"9783319038384"}],"license":[{"start":{"date-parts":[[2014,1,1]],"date-time":"2014-01-01T00:00:00Z","timestamp":1388534400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2014,1,1]],"date-time":"2014-01-01T00:00:00Z","timestamp":1388534400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014]]},"DOI":"10.1007\/978-3-319-03838-4_7","type":"book-chapter","created":{"date-parts":[[2013,11,23]],"date-time":"2013-11-23T07:21:53Z","timestamp":1385191313000},"page":"133-153","source":"Crossref","is-referenced-by-count":11,"title":["Active Recognition and Manipulation for Mobile Robot Bin Picking"],"prefix":"10.1007","author":[{"given":"Dirk","family":"Holz","sequence":"first","affiliation":[]},{"given":"Matthias","family":"Nieuwenhuisen","sequence":"additional","affiliation":[]},{"given":"David","family":"Droeschel","sequence":"additional","affiliation":[]},{"given":"J\u00f6rg","family":"St\u00fcckler","sequence":"additional","affiliation":[]},{"given":"Alexander","family":"Berner","sequence":"additional","affiliation":[]},{"given":"Jun","family":"Li","sequence":"additional","affiliation":[]},{"given":"Reinhard","family":"Klein","sequence":"additional","affiliation":[]},{"given":"Sven","family":"Behnke","sequence":"additional","affiliation":[]}],"member":"297","reference":[{"unstructured":"Ikeuchi, K., Horn, B.K.P., Nagata, S., Callahan, T., Feirigold, O.: Picking up an object from a pile of objects. In: Robotics Research: The First International Symposium, pp. 139\u2013162. MIT Press (1984)","key":"7_CR1"},{"unstructured":"Rahardja, K., Kosaka, A.: Vision-based bin-picking: Recognition and localization of multiple complex objects using simple visual cues. In: Proc. IEEE Int. Conf. on Intelligent Robots and Systems (1996)","key":"7_CR2"},{"issue":"8","key":"7_CR3","doi-asserted-by":"publisher","first-page":"951","DOI":"10.1177\/0278364911436018","volume":"31","author":"M.-Y. Liu","year":"2012","unstructured":"Liu, M.-Y., Tuzel, O., Veeraraghavan, A., Taguchi, Y., Marks, T.K., Chellappa, R.: Fast object localization and pose estimation in heavy clutter for robotic bin picking. Int. J. of Robotics Research\u00a031(8), 951\u2013973 (2012)","journal-title":"Int. J. of Robotics Research"},{"issue":"2","key":"7_CR4","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1109\/MRA.2012.2191993","volume":"19","author":"J. St\u00fcckler","year":"2012","unstructured":"St\u00fcckler, J., Holz, D., Behnke, S.: RoboCup@Home: Demonstrating everyday manipulation skills in RoboCup@Home. IEEE Robotics & Automation Magazine\u00a019(2), 34\u201342 (2012)","journal-title":"IEEE Robotics & Automation Magazine"},{"issue":"1","key":"7_CR5","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1023\/B:VISI.0000042934.15159.49","volume":"61","author":"P.F. Felzenszwalb","year":"2005","unstructured":"Felzenszwalb, P.F., Huttenlocher, D.P.: Pictorial structures for object recognition. Int. J. Comput. Vision\u00a061(1), 55\u201379 (2005)","journal-title":"Int. J. Comput. Vision"},{"unstructured":"Nieuwenhuisen, M., St\u00fcckler, J., Berner, A., Klein, R., Behnke, S.: Shape-primitive based object recognition and grasping. In: Proc. 7th German Conference on Robotics (2012)","key":"7_CR6"},{"doi-asserted-by":"crossref","unstructured":"Nieuwenhuisen, M., Droeschel, D., Holz, D., St\u00fcckler, J., Berner, A., Li, J., Klein, R., Behnke, S.: Mobile bin picking with an anthropomorphic service robot. In: Proc. IEEE Int.\u00a0Conf.\u00a0Robotics and Automation, pp. 2319\u20132326 (2013)","key":"7_CR7","DOI":"10.1109\/ICRA.2013.6630892"},{"issue":"4","key":"7_CR8","doi-asserted-by":"publisher","first-page":"538","DOI":"10.1177\/0278364911436019","volume":"31","author":"C. Papazov","year":"2012","unstructured":"Papazov, C., Haddadin, S., Parusel, S., Krieger, K., Burschka, D.: Rigid 3D geometry matching for grasping of known objects in cluttered scenes. Int. J. of Robotics Research\u00a031(4), 538\u2013553 (2012)","journal-title":"Int. J. of Robotics Research"},{"issue":"6","key":"7_CR9","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1145\/358669.358692","volume":"24","author":"M.A. Fischler","year":"1981","unstructured":"Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun. ACM\u00a024(6), 381\u2013395 (1981)","journal-title":"Commun. ACM"},{"doi-asserted-by":"crossref","unstructured":"Bley, F., Schmirgel, V., Kraiss, K.-F.: Mobile manipulation based on generic object knowledge. In: Proc. IEEE Int. Symp. on Robot and Human Interactive Communication (2006)","key":"7_CR10","DOI":"10.1109\/ROMAN.2006.314363"},{"doi-asserted-by":"crossref","unstructured":"Choi, C., Taguchi, Y., Tuzel, O., Liu, M.-Y., Ramalingam, S.: Voting-based pose estimation for robotic assembly using a 3D sensor. In: Proc. IEEE Int.\u00a0Conf.\u00a0Robotics and Automation (2012)","key":"7_CR11","DOI":"10.1109\/ICRA.2012.6225371"},{"doi-asserted-by":"crossref","unstructured":"Wahl, E., Hillenbrand, U., Hirzinger, G.: Surflet-pair-relation histograms: a statistical 3D-shape representation for rapid classification. In: Proc. Int. Conf. on 3-D Digital Imaging and Modeling (2003)","key":"7_CR12","DOI":"10.1109\/IM.2003.1240284"},{"doi-asserted-by":"crossref","unstructured":"Drost, B., Ulrich, M., Navab, N., Ilic, S.: Model globally, match locally: Efficient and robust 3D object recognition. In: Proc. IEEE Conf. on Computer Vision and Pattern Recognition (2010)","key":"7_CR13","DOI":"10.1109\/CVPR.2010.5540108"},{"doi-asserted-by":"crossref","unstructured":"Kim, E., Medioni, G.: 3D object recognition in range images using visibility context. In: Proc. IEEE Int. Conf. on Intelligent Robots and Systems (2011)","key":"7_CR14","DOI":"10.1109\/IROS.2011.6048203"},{"unstructured":"Schnabel, R., Wessel, R., Wahl, R., Klein, R.: Shape recognition in 3D point-clouds. In: Proc.\u00a0Int.\u00a0Conf.\u00a0on Computer Graphics, Visualization and Computer Vision (2008)","key":"7_CR15"},{"key":"7_CR16","first-page":"1","volume":"30","author":"Y. Li","year":"2011","unstructured":"Li, Y., Wu, X., Chrysathou, Y., Sharf, A., Cohen-Or, D., Mitra, N.J.: Globfit: Consistently fitting primitives by discovering global relations. ACM Trans. on Graphics\u00a030, 52:1\u201352:12 (2011)","journal-title":"ACM Trans. on Graphics"},{"doi-asserted-by":"crossref","unstructured":"Cohen, B.J., Subramanian, G., Chitta, S., Likhachev, M.: Planning for manipulation with adaptive motion primitives. In: Proc. IEEE Int.\u00a0Conf.\u00a0Robotics and Automation (2011)","key":"7_CR17","DOI":"10.1109\/ICRA.2011.5980550"},{"issue":"2","key":"7_CR18","doi-asserted-by":"publisher","first-page":"58","DOI":"10.1109\/MRA.2012.2191995","volume":"19","author":"S. Chitta","year":"2012","unstructured":"Chitta, S., Jones, E.G., Ciocarlie, M., Hsiao, K.: Perception, planning, and execution for mobile manipulation in unstructured environments. IEEE Robotics & Automation Magazine\u00a019(2), 58\u201371 (2012)","journal-title":"IEEE Robotics & Automation Magazine"},{"doi-asserted-by":"crossref","unstructured":"Klingbeil, E., Rao, D., Carpenter, B., Ganapathi, V., Ng, A.Y., Khatib, O.: Grasping with application to an autonomous checkout robot. In: Proc. IEEE Int.\u00a0Conf.\u00a0Robotics and Automation (2011)","key":"7_CR19","DOI":"10.1109\/ICRA.2011.5980287"},{"doi-asserted-by":"crossref","unstructured":"Chang, L., Smith, J.R., Fox, D.: Interactive singulation of objects from a pile. In: Proc. IEEE Int.\u00a0Conf.\u00a0Robotics and Automation (2012)","key":"7_CR20","DOI":"10.1109\/ICRA.2012.6224575"},{"doi-asserted-by":"crossref","unstructured":"Gupta, M., Sukhatme, G.S.: Using manipulation primitives for brick sorting in clutter. In: Proc. IEEE Int.\u00a0Conf.\u00a0Robotics and Automation (2012)","key":"7_CR21","DOI":"10.1109\/ICRA.2012.6224787"},{"issue":"1","key":"7_CR22","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s10514-009-9160-9","volume":"28","author":"S.S. Srinivasa","year":"2010","unstructured":"Srinivasa, S.S., Ferguson, D., Helfrich, C.J., Berenson, D., Collet, A., Diankov, R., Gallagher, G., Hollinger, G., Kuffner, J., Van de Weghe, M.: HERB: a home exploring robotic butler. Autonomous Robots\u00a028(1), 5\u201320 (2010)","journal-title":"Autonomous Robots"},{"doi-asserted-by":"crossref","unstructured":"B\u00e4uml, B., Schmidt, F., Wimb\u00f6ck, T., Birbach, O., Dietrich, A., Fuchs, M., Friedl, W., Frese, U., Borst, C., Grebenstein, M., Eiberger, O., Hirzinger, G.: Catching flying balls and preparing coffee: Humanoid Rollin\u2019Justin performs dynamic and sensitive tasks. In: Proc. IEEE Int.\u00a0Conf.\u00a0Robotics and Automation (2011)","key":"7_CR23","DOI":"10.1109\/ICRA.2011.5980073"},{"issue":"2","key":"7_CR24","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/MRA.2012.2192171","volume":"19","author":"N. Vahrenkamp","year":"2012","unstructured":"Vahrenkamp, N., Asfour, T., Dillmann, R.: Simultaneous grasp and motion planning: Humanoid robot ARMAR-III. IEEE Robotics & Automation Magazine\u00a019(2), 43\u201357 (2012)","journal-title":"IEEE Robotics & Automation Magazine"},{"issue":"1","key":"7_CR25","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1007\/s10514-009-9148-5","volume":"28","author":"A. Jain","year":"2010","unstructured":"Jain, A., Kemp, C.C.: EL-E: an assistive mobile manipulator that autonomously fetches objects from flat surfaces. Autonomous Robots\u00a028(1), 45\u201364 (2010)","journal-title":"Autonomous Robots"},{"doi-asserted-by":"crossref","unstructured":"Beetz, M., Klank, U., Kresse, I., Maldonado, A., M\u00f6senlechner, L., Pangercic, D., R\u00fchr, T., Tenorth, M.: Robotic roommates making pancakes. In: Proc. Int. Conf. on Humanoid Robots (2011)","key":"7_CR26","DOI":"10.1109\/Humanoids.2011.6100855"},{"doi-asserted-by":"crossref","unstructured":"Mitra, N.J., Gelfand, N., Pottmann, H., Guibas, L.: Registration of point cloud data from a geometric optimization perspective. In: Symp. Geometry Processing (2004)","key":"7_CR27","DOI":"10.1145\/1057432.1057435"},{"unstructured":"Bendels, G.H., Schnabel, R., Klein, R.: Detecting holes in point set surfaces. Journal of WSCG\u00a014(1-3) (February 2006)","key":"7_CR28"},{"issue":"2","key":"7_CR29","doi-asserted-by":"publisher","first-page":"214","DOI":"10.1111\/j.1467-8659.2007.01016.x","volume":"26","author":"R. Schnabel","year":"2007","unstructured":"Schnabel, R., Wahl, R., Klein, R.: Efficient RANSAC for point-cloud shape detection. Computer Graphics Forum\u00a026(2), 214\u2013226 (2007)","journal-title":"Computer Graphics Forum"},{"unstructured":"Berner, A., Bokeloh, M., Wand, M., Schilling, A., Seidel, H.-P.: A graph-based approach to symmetry detection. In: Proc. IEEE\/EG Int. Symp. on Volume and Point-Based Graphics (2008)","key":"7_CR30"},{"doi-asserted-by":"crossref","unstructured":"Papazov, C., Burschka, D.: An efficient RANSAC for 3D object recognition in noisy and occluded scenes. In: Proc. Asian Conf. on Computer Vision (2011)","key":"7_CR31","DOI":"10.1007\/978-3-642-19315-6_11"},{"unstructured":"Kazhdan, M., Bolitho, M., Hoppe, H.: Poisson surface reconstruction. In: Proceedings of the Fourth Eurographics Symposium on Geometry Processing, SGP 2006, pp. 61\u201370 (2006)","key":"7_CR32"},{"doi-asserted-by":"crossref","unstructured":"Holz, D., Behnke, S.: Sancta simplicitas \u2013 on the efficiency and achievable results of SLAM using ICP-based incremental registration. In: Proc. IEEE Int.\u00a0Conf.\u00a0Robotics and Automation, pp. 1380\u20131387 (2010)","key":"7_CR33","DOI":"10.1109\/ROBOT.2010.5509918"},{"doi-asserted-by":"crossref","unstructured":"Hornung, A., Wurm, K.M., Bennewitz, M., Stachniss, C., Burgard, W.: OctoMap: An efficient probabilistic 3D mapping framework based on octrees. Autonomous Robots (2013)","key":"7_CR34","DOI":"10.1007\/s10514-012-9321-0"},{"key":"7_CR35","series-title":"STAR","doi-asserted-by":"publisher","first-page":"449","DOI":"10.1007\/978-3-642-00312-7_28","volume-title":"Algorithmic Foundation of Robotics VIII","author":"I.A. \u015eucan","year":"2009","unstructured":"\u015eucan, I.A., Kavraki, L.E.: Kinodynamic motion planning by interior-exterior cell exploration. In: Chirikjian, G.S., Choset, H., Morales, M., Murphey, T. (eds.) Algorithmic Foundation of Robotics VIII. STAR, vol.\u00a057, pp. 449\u2013464. Springer, Heidelberg (2009)"},{"key":"7_CR36","series-title":"Lecture Notes in Artificial Intelligence","doi-asserted-by":"publisher","first-page":"332","DOI":"10.1007\/978-3-540-25940-4_29","volume-title":"RoboCup 2003: Robot Soccer World Cup VII","author":"S. Behnke","year":"2004","unstructured":"Behnke, S.: Local multiresolution path planning. In: Polani, D., Browning, B., Bonarini, A., Yoshida, K. (eds.) RoboCup 2003. LNCS (LNAI), vol.\u00a03020, pp. 332\u2013343. Springer, Heidelberg (2004)"},{"issue":"12","key":"7_CR37","doi-asserted-by":"publisher","first-page":"985","DOI":"10.1177\/0278364903022012001","volume":"22","author":"D. Fox","year":"2003","unstructured":"Fox, D.: Adapting the sample size in particle filters through KLD-sampling. I. J. Robotic Res.\u00a022(12), 985\u20131004 (2003)","journal-title":"I. J. Robotic Res."},{"issue":"2","key":"7_CR38","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","volume":"4","author":"P.E. Hart","year":"1968","unstructured":"Hart, P.E., Nilsson, N.J., Raphael, B.: A formal basis for the heuristic determination of minimum cost paths. IEEE Trans. on Systems Science and Cybernetics\u00a04(2), 100\u2013107 (1968)","journal-title":"IEEE Trans. on Systems Science and Cybernetics"}],"container-title":["Springer Tracts in Advanced Robotics","Gearing Up and Accelerating Cross\u2010fertilization between Academic and Industrial Robotics Research in Europe:"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-03838-4_7","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,5,20]],"date-time":"2024-05-20T08:10:36Z","timestamp":1716192636000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-319-03838-4_7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014]]},"ISBN":["9783319038377","9783319038384"],"references-count":38,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-03838-4_7","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2014]]}}}