{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T16:54:55Z","timestamp":1768582495339,"version":"3.49.0"},"reference-count":44,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2012,8,6]],"date-time":"2012-08-06T00:00:00Z","timestamp":1344211200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2012,9]]},"abstract":"<jats:p> Grasping unknown objects based on visual input, where no a priori knowledge about the objects is used, is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information which provides a sparse but powerful description of the scene. Based on this representation, we generate contour-based and surface-based grasps. We test our method in two real-world scenarios, as well as on a vision-based grasping benchmark providing a hybrid scenario using real-world stereo images as input and a simulator for extensive and repetitive evaluation of the grasps. The results show that the proposed method is able to generate successful grasps, and in particular that the contour and surface information are complementary for the task of grasping unknown objects. This allows for dealing with rather complex scenes. <\/jats:p>","DOI":"10.1177\/0278364912452621","type":"journal-article","created":{"date-parts":[[2012,8,7]],"date-time":"2012-08-07T00:46:20Z","timestamp":1344300380000},"page":"1190-1213","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":24,"title":["Enabling grasping of unknown objects through a synergistic use of edge and surface information"],"prefix":"10.1177","volume":"31","author":[{"given":"Gert","family":"Kootstra","sequence":"first","affiliation":[{"name":"The Computer Vision and Active Perception Lab and the Centre for Autonomous Systems, CSC, Royal Institute of Technology (KTH), Stockholm, Sweden"}]},{"given":"Mila","family":"Popovi\u0107","sequence":"additional","affiliation":[{"name":"The Cognitive Vision Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Odense, Denmark"}]},{"given":"Jimmy Alison","family":"J\u00f8rgensen","sequence":"additional","affiliation":[{"name":"The Robotics Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Odense, Denmark"}]},{"given":"Kamil","family":"Kuklinski","sequence":"additional","affiliation":[{"name":"Automation and Robotics Department, Bia\u0142ystok University of Technology, Poland"}]},{"given":"Konstantsin","family":"Miatliuk","sequence":"additional","affiliation":[{"name":"Automation and Robotics Department, Bia\u0142ystok University of Technology, Poland"}]},{"given":"Danica","family":"Kragic","sequence":"additional","affiliation":[{"name":"The Computer Vision and Active Perception Lab and the Centre for Autonomous Systems, CSC, Royal Institute of Technology (KTH), Stockholm, Sweden"}]},{"given":"Norbert","family":"Kr\u00fcger","sequence":"additional","affiliation":[{"name":"The Cognitive Vision Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Odense, Denmark"}]}],"member":"179","published-online":{"date-parts":[[2012,8,6]]},"reference":[{"key":"bibr1-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvcir.2010.06.006"},{"key":"bibr2-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2132870"},{"key":"bibr3-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509973"},{"key":"bibr4-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/CIRA.2009.5423169"},{"key":"bibr5-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.10.003"},{"key":"bibr6-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249729"},{"key":"bibr7-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2004.840061"},{"key":"bibr8-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909105606"},{"key":"bibr9-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651062"},{"key":"bibr10-0278364912452621","doi-asserted-by":"publisher","DOI":"10.2478\/s13230-011-0012-x"},{"key":"bibr11-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2009.64"},{"key":"bibr12-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651005"},{"key":"bibr13-0278364912452621","volume-title":"Proceedings of IROS 2008 Workshop on Grasp and Task Learning by Imitation","author":"El-Khoury S","year":"2008"},{"key":"bibr14-0278364912452621","volume-title":"Proceedings of 42st International Symposium on Robotics (ISR)","author":"Ellekilde L","year":"2011"},{"key":"bibr15-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1037\/11496-000"},{"key":"bibr16-0278364912452621","volume-title":"NURB Curves and Surfaces: from projective geometry to practical use","author":"Farin GE","year":"1995"},{"key":"bibr17-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"bibr18-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2011.6088545"},{"key":"bibr19-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364200"},{"key":"bibr20-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543434"},{"key":"bibr21-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9148-5"},{"key":"bibr22-0278364912452621","volume-title":"Proceedings of Joint 41st International Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics (ROBOTIK 2010)","author":"J\u00f8rgensen J","year":"2010"},{"key":"bibr23-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1108\/01439911111122806"},{"key":"bibr24-0278364912452621","volume-title":"Principles of Gestalt Psychology","author":"Koffka K","year":"1935"},{"key":"bibr25-0278364912452621","doi-asserted-by":"publisher","DOI":"10.2478\/s13230-012-0020-5"},{"key":"bibr26-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1142\/S021984360800139X"},{"key":"bibr27-0278364912452621","volume-title":"ECCV 2010 Workshop on \u201cVision for Cognitive Tasks\u201d","author":"Kr\u00fcger N","year":"2010"},{"key":"bibr28-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1371616"},{"key":"bibr29-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241860"},{"key":"bibr30-0278364912452621","unstructured":"Morales A (2004) Learning to predict grasp reliability with a multifinger robot hand by using visual features. Ph.D. thesis, Univertitat Jaume I, Castell\u00f3n, Spain."},{"key":"bibr31-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.01.002"},{"key":"bibr32-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/CIRA.2005.1554336"},{"key":"bibr33-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800102"},{"key":"bibr34-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1308797"},{"key":"bibr35-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/70.478433"},{"key":"bibr36-0278364912452621","unstructured":"Popovi\u0107 M (2012) Grasping Unknown Objects in an Early Cognitive Vision System. Ph.D. thesis, University of Southern Denmark. http:\/\/covil.mmmi.sdu.dk\/publications\/milaphd.pdf."},{"key":"bibr37-0278364912452621","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS)","author":"Popovi\u0107 M","year":"2011"},{"key":"bibr38-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2010.01.003"},{"key":"bibr39-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0010663"},{"key":"bibr40-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843610002209"},{"key":"bibr41-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650493"},{"key":"bibr42-0278364912452621","volume-title":"ECCV workshop on Vision in Action: Efficient strategies for cognitive agents in complex environments","author":"Richtsfeld M","year":"2008"},{"key":"bibr43-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907087172"},{"key":"bibr44-0278364912452621","doi-asserted-by":"publisher","DOI":"10.1177\/027836499601500302"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912452621","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912452621","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,3]],"date-time":"2025-03-03T05:12:44Z","timestamp":1740978764000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364912452621"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,8,6]]},"references-count":44,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2012,9]]}},"alternative-id":["10.1177\/0278364912452621"],"URL":"https:\/\/doi.org\/10.1177\/0278364912452621","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,8,6]]}}}