{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,3]],"date-time":"2026-11-03T16:44:05Z","timestamp":1793724245979,"version":"4.6.1"},"reference-count":36,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2008,2,1]],"date-time":"2008-02-01T00:00:00Z","timestamp":1201824000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2008,2]]},"abstract":"<jats:p>We consider the problem of grasping novel objects, specifically objects that are being seen for the first time through vision. Grasping a previously unknown object, one for which a 3-d model is not available, is a challenging problem. Furthermore, even if given a model, one still has to decide where to grasp the object. We present a learning algorithm that neither requires nor tries to build a 3-d model of the object. Given two (or more) images of an object, our algorithm attempts to identify a few points in each image corresponding to good locations at which to grasp the object. This sparse set of points is then triangulated to obtain a 3-d location at which to attempt a grasp. This is in contrast to standard dense stereo, which tries to triangulate every single point in an image (and often fails to return a good 3-d model). Our algorithm for identifying grasp locations from an image is trained by means of supervised learning, using synthetic images for the training set. We demonstrate this approach on two robotic manipulation platforms. Our algorithm successfully grasps a wide variety of objects, such as plates, tape rolls, jugs, cellphones, keys, screwdrivers, staplers, a thick coil of wire, a strangely shaped power horn and others, none of which were seen in the training set. We also apply our method to the task of unloading items from dishwashers.<\/jats:p>","DOI":"10.1177\/0278364907087172","type":"journal-article","created":{"date-parts":[[2008,1,25]],"date-time":"2008-01-25T09:44:04Z","timestamp":1201254244000},"page":"157-173","source":"Crossref","is-referenced-by-count":742,"title":["Robotic Grasping of Novel Objects using Vision"],"prefix":"10.1177","volume":"27","author":[{"given":"Ashutosh","family":"Saxena","sequence":"first","affiliation":[{"name":"Computer Science Department, Stanford University, Stanford, CA 94305, USA,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Justin","family":"Driemeyer","sequence":"additional","affiliation":[{"name":"Computer Science Department, Stanford University, Stanford, CA 94305, USA,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrew Y.","family":"Ng","sequence":"additional","affiliation":[{"name":"Computer Science Department, Stanford University, Stanford, CA 94305, USA,"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2008,2,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844081"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1038\/228679a0"},{"issue":"3","key":"atypb3","first-page":"320","volume":"11","author":"Bowers, D.L.","year":"2003","journal-title":"Systems"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1038\/nrn1744"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(01)00158-0"},{"key":"atypb6","volume-title":"An Introduction to Ray Tracing","author":"Glassner, A.S.","year":"1989"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1038\/349154a0"},{"key":"atypb8","volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)","author":"Gould, S."},{"key":"atypb9","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA)","author":"Hsiao, K."},{"key":"atypb10","volume-title":"Proceedings of the IEEE\/RJS International Conference on Intelligent Robots and Systems (IROS)","author":"Hsiao, K."},{"key":"atypb11","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA)","author":"Hueser, M."},{"key":"atypb12","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA)","author":"Kamon, I."},{"key":"atypb13","doi-asserted-by":"crossref","unstructured":"Khatib, O. (1986). The potential field approach and operational space formulation in robot control. Adaptive and Learning Systems: Theory and Applications . New York, Plenum, 367\u2014377.","DOI":"10.1007\/978-1-4757-1895-9_26"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1177\/027836490302210009"},{"key":"atypb15","first-page":"107","volume":"104","author":"Marotta, J.J.","year":"2004","journal-title":"Experimental Brain Research"},{"key":"atypb16","volume-title":"Manipulator grasping and pushing operations. Robot Hands and the Mechanics of Manipulation","author":"Mason, M.T.","year":"1985"},{"key":"atypb17","volume-title":"Proceedings of the International Conference on Machine Learning (ICML)","author":"Michels, J."},{"key":"atypb18","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA)","author":"Miller, A.T."},{"key":"atypb19","volume-title":"Proceedings of the IEEE\/RSJ Intelligent Robots and Systems Conference","author":"Morales, A."},{"key":"atypb20","volume-title":"Proceedings of the IEEE\/RSJ Intelligent Robots and Systems Conference","author":"Morales, A."},{"key":"atypb21","volume-title":"Proceedings of the International Conference on Robotics and Automation (ICRA)","author":"Pelossof, R."},{"key":"atypb22","volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Petrovskaya, A."},{"key":"atypb23","volume-title":"Proceedings of the ICML Workshop on Machine Learning of Spatial Knowledge","author":"Piater, J.H."},{"key":"atypb24","volume-title":"Proceedings of the IEEE-RAS International Conference on Humanoid Robots","author":"Platt, R."},{"key":"atypb25","volume-title":"Switchyard","author":"Quigley, M.","year":"2007"},{"key":"atypb26","volume-title":"Proceedings of the 18th Annual Neural Information Processing Systems Conference (NIPS 18)","author":"Saxena, A."},{"key":"atypb27","volume-title":"Proceedings of the International Journal of Computer Vision (IJCV)","author":"Saxena, A."},{"key":"atypb28","volume-title":"Proceedings of the 19th Annual Neural Information Processing Systems Conference (NIPS 19)","author":"Saxena, A."},{"key":"atypb29","volume-title":"Proceedings of the 10th International Symposium of Experimental Robotics (ISER)","author":"Saxena, A."},{"key":"atypb30","volume-title":"Learning 3-d object orientation from images, NIPS workshop on Robotic Challenges for Machine Learning, 2007","author":"Saxena, A.","year":"2007"},{"key":"atypb31","volume-title":"Proceedings of the 20th International Joint Conference on Artificial Intelligence (IJCAI)","author":"Saxena, A."},{"key":"atypb32","volume-title":"Proceedings of the ICCV Workshop on 3D Representation for Recognition (3dRR-07)","author":"Saxena, A."},{"key":"atypb33","volume-title":"Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)","author":"Schneiderman, H."},{"key":"atypb34","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.838012"},{"key":"atypb35","doi-asserted-by":"publisher","DOI":"10.1177\/027836499601500302"},{"key":"atypb36","first-page":"7","volume":"13","author":"Shin-ichi, T.","year":"2000","journal-title":"Nipponia"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907087172","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907087172","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:15Z","timestamp":1777457775000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364907087172"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,2]]},"references-count":36,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2008,2]]}},"alternative-id":["10.1177\/0278364907087172"],"URL":"https:\/\/doi.org\/10.1177\/0278364907087172","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,2]]}}}