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The perception system gains its strengths by exploiting that the robots are to perform the same kinds of tasks with the same objects over and over again. It does so by learning the object representations necessary for the recognition and reconstruction in the context of pick-and-place tasks. The system employs a library of specialized perception routines that solve different, well-defined perceptual sub-tasks and can be combined into composite perceptual activities including the construction of an object model database, multimodal object classification, and object model reconstruction for grasping. We evaluate the effectiveness of our methods, and give examples of application scenarios using our personal robotic assistants acting in a human living environment. <\/jats:p>","DOI":"10.1177\/0278364911415897","type":"journal-article","created":{"date-parts":[[2011,8,2]],"date-time":"2011-08-02T02:02:11Z","timestamp":1312250531000},"page":"1378-1402","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":77,"title":["Combined 2D\u20133D categorization and classification for multimodal perception systems"],"prefix":"10.1177","volume":"30","author":[{"given":"Zoltan-Csaba","family":"Marton","sequence":"first","affiliation":[{"name":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t M\u00fcnchen, CoTeSys Central Robotics Laboratory II, Munich, Germany"}]},{"given":"Dejan","family":"Pangercic","sequence":"additional","affiliation":[{"name":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t M\u00fcnchen, CoTeSys Central Robotics Laboratory II, Munich, Germany"}]},{"given":"Nico","family":"Blodow","sequence":"additional","affiliation":[{"name":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t M\u00fcnchen, CoTeSys Central Robotics Laboratory II, Munich, Germany"}]},{"given":"Michael","family":"Beetz","sequence":"additional","affiliation":[{"name":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t M\u00fcnchen, CoTeSys Central Robotics Laboratory II, Munich, Germany"}]}],"member":"179","published-online":{"date-parts":[[2011,8,1]]},"reference":[{"key":"bibr1-0278364911415897","first-page":"5S","volume-title":"Proceedings of IEEE\/Robotics and Automation Society: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010): Conference Digest","author":"Arbeiter G","year":"2010"},{"key":"bibr2-0278364911415897","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363129"},{"key":"bibr3-0278364911415897","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2010.5686341"},{"key":"bibr4-0278364911415897","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2009.5379539"},{"key":"bibr5-0278364911415897","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543223"},{"key":"bibr6-0278364911415897","unstructured":"Chang C-C, Lin C-J (2001) LIBSVM: a library for support vector machines, 2001. 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