{"id":"https://openalex.org/W1987078119","doi":"https://doi.org/10.1109/humanoids.2012.6651501","title":"Discovery, segmentation and reactive grasping of unknown objects","display_name":"Discovery, segmentation and reactive grasping of unknown objects","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W1987078119","doi":"https://doi.org/10.1109/humanoids.2012.6651501","mag":"1987078119"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5050061069","display_name":"David Schiebener","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Schiebener","raw_affiliation_strings":["Karlsruhe Institute of Technology (KIT), Institute for Anthropomatics (IFA)","Institute for Anthropomatics IFA, Karlsruhe Institute of Technology KIT, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT), Institute for Anthropomatics (IFA)","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics IFA, Karlsruhe Institute of Technology KIT, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019274101","display_name":"Julian Schill","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julian Schill","raw_affiliation_strings":["Karlsruhe Institute of Technology (KIT), Institute for Anthropomatics (IFA)","Institute for Anthropomatics IFA, Karlsruhe Institute of Technology KIT, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT), Institute for Anthropomatics (IFA)","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics IFA, Karlsruhe Institute of Technology KIT, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Karlsruhe Institute of Technology (KIT), Institute for Anthropomatics (IFA)","Institute for Anthropomatics IFA, Karlsruhe Institute of Technology KIT, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT), Institute for Anthropomatics (IFA)","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics IFA, Karlsruhe Institute of Technology KIT, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":2.1882,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.84876318,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"71","last_page":"77"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8550804257392883},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7909781336784363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7522192001342773},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7250632643699646},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6736092567443848},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.663132905960083},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6026780605316162},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5893455147743225},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41525983810424805}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8550804257392883},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7909781336784363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7522192001342773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7250632643699646},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6736092567443848},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.663132905960083},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6026780605316162},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5893455147743225},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41525983810424805},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2012.6651501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5400000214576721}],"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":31,"referenced_works":["https://openalex.org/W1585610988","https://openalex.org/W1820657498","https://openalex.org/W1985816055","https://openalex.org/W2005107673","https://openalex.org/W2021473074","https://openalex.org/W2029013291","https://openalex.org/W2033819227","https://openalex.org/W2047039583","https://openalex.org/W2050653241","https://openalex.org/W2067774206","https://openalex.org/W2070612690","https://openalex.org/W2076593519","https://openalex.org/W2085261163","https://openalex.org/W2088076141","https://openalex.org/W2103088500","https://openalex.org/W2111308925","https://openalex.org/W2112645080","https://openalex.org/W2124404372","https://openalex.org/W2125579716","https://openalex.org/W2128621978","https://openalex.org/W2143909231","https://openalex.org/W2150585955","https://openalex.org/W2157323667","https://openalex.org/W2162160008","https://openalex.org/W2165830610","https://openalex.org/W2167542173","https://openalex.org/W2419226449","https://openalex.org/W2540104143","https://openalex.org/W3141683052","https://openalex.org/W6635035540","https://openalex.org/W6717000690"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W165915117","https://openalex.org/W1984314158","https://openalex.org/W2657478029","https://openalex.org/W2080808138","https://openalex.org/W2626503888","https://openalex.org/W4387962997","https://openalex.org/W2129483190"],"abstract_inverted_index":{"Learning":[0],"the":[1,43,50,55],"visual":[2],"appearance":[3],"and":[4,45,57],"physical":[5],"properties":[6],"of":[7],"unknown":[8,38],"objects":[9],"is":[10],"an":[11,24,29],"important":[12],"capability":[13],"for":[14],"humanoid":[15],"robots":[16],"that":[17,31],"are":[18],"supposed":[19],"to":[20,35],"be":[21],"working":[22],"in":[23],"open":[25],"environment.":[26],"We":[27],"present":[28],"approach":[30],"enables":[32],"a":[33],"robot":[34,51],"discover":[36],"new,":[37],"objects,":[39],"segment":[40],"them":[41],"from":[42],"background":[44],"grasp":[46],"them.":[47],"This":[48],"gives":[49],"full":[52],"control":[53],"over":[54],"object":[56],"allows":[58],"its":[59],"further":[60],"multimodal":[61],"exploration.":[62]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
