{"id":"https://openalex.org/W1947186445","doi":"https://doi.org/10.1109/etfa.2015.7301453","title":"A skill-based system for object perception and manipulation for automating kitting tasks","display_name":"A skill-based system for object perception and manipulation for automating kitting tasks","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1947186445","doi":"https://doi.org/10.1109/etfa.2015.7301453","mag":"1947186445"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2015.7301453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2015.7301453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 20th Conference on Emerging Technologies &amp; Factory Automation (ETFA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003730523","display_name":"Dirk Holz","orcid":"https://orcid.org/0000-0002-9525-5430"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Dirk Holz","raw_affiliation_strings":["Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","Autonomous Intelligent Systems Group, University of Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intelligent Systems Group, University of Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000368267","display_name":"Angeliki Topalidou\u2010Kyniazopoulou","orcid":"https://orcid.org/0000-0003-3577-3946"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Angeliki Topalidou-Kyniazopoulou","raw_affiliation_strings":["Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","Autonomous Intelligent Systems Group, University of Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intelligent Systems Group, University of Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033799809","display_name":"Francesco Rovida","orcid":null},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Francesco Rovida","raw_affiliation_strings":["Robotics, Vision and Machine Intelligence (RVMI) Lab, Aalborg University, Copenhagen, Denmark"],"affiliations":[{"raw_affiliation_string":"Robotics, Vision and Machine Intelligence (RVMI) Lab, Aalborg University, Copenhagen, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068304029","display_name":"Mikkel Rath Pedersen","orcid":"https://orcid.org/0000-0003-3026-7315"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Mikkel Rath Pedersen","raw_affiliation_strings":["Robotics, Vision and Machine Intelligence (RVMI) Lab, Aalborg University, Copenhagen, Denmark"],"affiliations":[{"raw_affiliation_string":"Robotics, Vision and Machine Intelligence (RVMI) Lab, Aalborg University, Copenhagen, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075432056","display_name":"Volker Kr\u00fcger","orcid":"https://orcid.org/0000-0002-8836-8816"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Volker Kruger","raw_affiliation_strings":["Robotics, Vision and Machine Intelligence (RVMI) Lab, Aalborg University, Copenhagen, Denmark"],"affiliations":[{"raw_affiliation_string":"Robotics, Vision and Machine Intelligence (RVMI) Lab, Aalborg University, Copenhagen, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","Autonomous Intelligent Systems Group, University of Bonn, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Group, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Autonomous Intelligent Systems Group, University of Bonn, Germany#TAB#","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5003730523"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":4.4287,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.94425149,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7199546694755554},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6024560928344727},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5957603454589844},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5293194651603699},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5188409090042114},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.5015020370483398},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.48777681589126587},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44038113951683044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3057790994644165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13921687006950378},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13419800996780396},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10749614238739014}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7199546694755554},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6024560928344727},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5957603454589844},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5293194651603699},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5188409090042114},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.5015020370483398},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.48777681589126587},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44038113951683044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3057790994644165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13921687006950378},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13419800996780396},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10749614238739014},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/etfa.2015.7301453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2015.7301453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 20th Conference on Emerging Technologies &amp; Factory Automation (ETFA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.712.2953","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.712.2953","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ais.uni-bonn.de/papers/ETFA_2015_Holz.pdf","raw_type":"text"},{"id":"pmh:oai:lup.lub.lu.se:78ef29da-308d-4c29-92d8-c07634496e29","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/78ef29da-308d-4c29-92d8-c07634496e29","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"contributiontobookanthology/conference"},{"id":"pmh:oai:pure.atira.dk:publications/dceb3a16-39ca-4c1a-840f-cd2b9536edc2","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/dceb3a16-39ca-4c1a-840f-cd2b9536edc2","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Holz , D , Topalidou-Kyniazopoulou , A , Rovida , F , Pedersen , M R , Kr\u00fcger , V &amp; Behnke , S 2015 , A skill-based system for object perception and manipulation for automating kitting tasks . in IEEE 20th Conference on Emerging Technologies &amp; Factory Automation (ETFA), 2015 . IEEE , pp. 1-9 , 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2015) , Luxembourg , Luxembourg , 08/09/2015 . https://doi.org/10.1109/ETFA.2015.7301453","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6000000238418579}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W7981553","https://openalex.org/W132147841","https://openalex.org/W1433732360","https://openalex.org/W1506806321","https://openalex.org/W1637459849","https://openalex.org/W1792593280","https://openalex.org/W1929231709","https://openalex.org/W1946035420","https://openalex.org/W1953914880","https://openalex.org/W1965851203","https://openalex.org/W1968129666","https://openalex.org/W1977077642","https://openalex.org/W1978578701","https://openalex.org/W1995443731","https://openalex.org/W2006698373","https://openalex.org/W2017197542","https://openalex.org/W2049200047","https://openalex.org/W2052789223","https://openalex.org/W2068127265","https://openalex.org/W2078602589","https://openalex.org/W2083051008","https://openalex.org/W2086113803","https://openalex.org/W2089806275","https://openalex.org/W2099265033","https://openalex.org/W2102325330","https://openalex.org/W2113263503","https://openalex.org/W2161168419","https://openalex.org/W2171565246","https://openalex.org/W2205414745","https://openalex.org/W2242745611","https://openalex.org/W2337392266","https://openalex.org/W2402164836","https://openalex.org/W2577702365","https://openalex.org/W4251902048","https://openalex.org/W6600333629","https://openalex.org/W6605377543","https://openalex.org/W6628329250","https://openalex.org/W6636617412","https://openalex.org/W6640668710","https://openalex.org/W6640935688","https://openalex.org/W6648939582","https://openalex.org/W6671837947","https://openalex.org/W6675594851","https://openalex.org/W6685086406","https://openalex.org/W6690590051","https://openalex.org/W6703337927"],"related_works":["https://openalex.org/W4382644535","https://openalex.org/W2522768275","https://openalex.org/W2352938035","https://openalex.org/W2351672553","https://openalex.org/W2373392303","https://openalex.org/W2765894405","https://openalex.org/W1884735063","https://openalex.org/W2732813147","https://openalex.org/W2143460112","https://openalex.org/W2042906257"],"abstract_inverted_index":{"The":[0],"automation":[1,27],"of":[2,7,29,56,131,144,152],"kitting":[3,58,70],"tasks-collecting":[4],"a":[5,14,16,65,72,116,124,135,150],"set":[6],"parts":[8,38],"for":[9,68,86,154],"one":[10],"particular":[11],"car":[12],"into":[13,115],"kit-has":[15],"huge":[17],"impact":[18],"in":[19,52],"the":[20,26,37,53,57,141,155],"automotive":[21],"industry.":[22],"It":[23],"considerably":[24],"increases":[25],"levels":[28],"tasks":[30,79],"typically":[31],"conducted":[32],"by":[33],"human":[34],"workers.":[35],"Collecting":[36],"involves":[39],"picking":[40],"up":[41],"objects":[42],"from":[43],"pallets":[44],"and":[45,80,103,139,159],"bins":[46],"as":[47,49,98,100,149],"well":[48,99],"placing":[50],"them":[51],"respective":[54],"compartments":[55],"box.":[59],"In":[60,82],"this":[61],"paper,":[62],"we":[63,90],"present":[64,91,129],"complete":[66],"system":[67,157],"automated":[69],"with":[71,123],"mobile":[73],"manipulator":[74],"thereby":[75],"focusing":[76],"on":[77],"depalletizing":[78],"placing.":[81],"order":[83],"to":[84,95,108],"allow":[85],"low":[87],"cycle":[88],"times,":[89],"particularly":[92],"efficient":[93],"solutions":[94],"object":[96],"perception":[97],"motion":[101],"planning":[102,126],"execution.":[104],"For":[105],"easy":[106],"portability":[107],"different":[109],"platforms,":[110],"all":[111],"components":[112],"are":[113],"integrated":[114],"skill-based":[117],"framework":[118],"that":[119],"is":[120],"tightly":[121],"coupled":[122],"task":[125],"component.":[127],"We":[128],"results":[130],"experiments":[132],"at":[133,140],"both":[134],"research":[136],"laboratory":[137],"environment":[138],"industrial":[142],"site":[143],"PSA":[145],"Peugeot":[146],"Citro\u00ebn":[147],"serving":[148],"proof":[151],"concept":[153],"overall":[156],"design":[158],"implementation.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
