{"id":"https://openalex.org/W2076189885","doi":"https://doi.org/10.1109/humanoids.2012.6651520","title":"Real-time 3D segmentation of cluttered scenes for robot grasping","display_name":"Real-time 3D segmentation of cluttered scenes for robot grasping","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2076189885","doi":"https://doi.org/10.1109/humanoids.2012.6651520","mag":"2076189885"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651520","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":true,"oa_status":"green","oa_url":"https://pub.uni-bielefeld.de/record/2530701","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075990564","display_name":"Andr\u00e9 \u00dcckermann","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Uckermann","raw_affiliation_strings":["Neuroinformatics Group at Bielefeld University, Germany","Neuroinf. Group, Bielefeld Univ., Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics Group at Bielefeld University, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Neuroinf. Group, Bielefeld Univ., Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044067164","display_name":"Robert Haschke","orcid":"https://orcid.org/0000-0001-5842-9991"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robert Haschke","raw_affiliation_strings":["Neuroinformatics Group at Bielefeld University, Germany","Neuroinf. Group, Bielefeld Univ., Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics Group at Bielefeld University, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Neuroinf. Group, Bielefeld Univ., Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074989840","display_name":"Helge Ritter","orcid":"https://orcid.org/0000-0003-1703-1906"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Helge Ritter","raw_affiliation_strings":["Neuroinformatics Group at Bielefeld University, Germany","Neuroinf. Group, Bielefeld Univ., Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics Group at Bielefeld University, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Neuroinf. Group, Bielefeld Univ., Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":null,"apc_paid":null,"fwci":19.3952,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.99630276,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"198","last_page":"203"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/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/T12549","display_name":"Image and Object Detection Techniques","score":0.9966999888420105,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8247413635253906},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8037370443344116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7227447032928467},{"id":"https://openalex.org/keywords/shadow","display_name":"Shadow (psychology)","score":0.6192525029182434},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6115276217460632},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.561915934085846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5585259199142456},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.523202657699585},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5225952863693237},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4445197880268097},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.42880934476852417},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09022718667984009},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07569804787635803}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8247413635253906},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8037370443344116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7227447032928467},{"id":"https://openalex.org/C117797892","wikidata":"https://www.wikidata.org/wiki/Q286363","display_name":"Shadow (psychology)","level":2,"score":0.6192525029182434},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6115276217460632},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.561915934085846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5585259199142456},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.523202657699585},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5225952863693237},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4445197880268097},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.42880934476852417},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09022718667984009},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07569804787635803},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2012.6651520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651520","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"},{"id":"pmh:oai:pub.librecat.org:2530701","is_oa":true,"landing_page_url":"https://pub.uni-bielefeld.de/record/2530701","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"\u00dcckermann A, Haschke R, Ritter H. Real-Time 3D Segmentation of Cluttered Scenes for Robot Grasping. In: &lt;em&gt;2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)&lt;/em&gt;. Osaka, Japan; 2012: 198-203.","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pub.librecat.org:2530701","is_oa":true,"landing_page_url":"https://pub.uni-bielefeld.de/record/2530701","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"\u00dcckermann A, Haschke R, Ritter H. Real-Time 3D Segmentation of Cluttered Scenes for Robot Grasping. In: &lt;em&gt;2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)&lt;/em&gt;. Osaka, Japan; 2012: 198-203.","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1497683200","https://openalex.org/W1576725826","https://openalex.org/W1637459849","https://openalex.org/W1993804695","https://openalex.org/W2023751161","https://openalex.org/W2033574012","https://openalex.org/W2050653241","https://openalex.org/W2058761328","https://openalex.org/W2085261163","https://openalex.org/W2101204737","https://openalex.org/W2109384047","https://openalex.org/W2125298120","https://openalex.org/W2139146597","https://openalex.org/W2144891935","https://openalex.org/W2152864241","https://openalex.org/W2156583822","https://openalex.org/W2750339080","https://openalex.org/W6629675783","https://openalex.org/W6634542157","https://openalex.org/W6636617412","https://openalex.org/W6680399253"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W972276598","https://openalex.org/W4246352526","https://openalex.org/W2121910908","https://openalex.org/W1522196789"],"abstract_inverted_index":{"We":[0,80],"present":[1],"a":[2,37,41,66,107,113],"real-time":[3,55],"algorithm":[4,13,62,105],"that":[5],"segments":[6],"unstructured":[7],"and":[8,25,57,98],"highly":[9,50],"cluttered":[10],"scenes.":[11],"The":[12,29,54],"robustly":[14],"separates":[15],"objects":[16,101],"of":[17,23,60,100],"unknown":[18],"shape":[19,97],"in":[20,106,109],"congested":[21],"scenes":[22],"stacked":[24],"partially":[26],"occluded":[27],"objects.":[28],"model-free":[30],"approach":[31],"finds":[32],"smooth":[33],"surface":[34],"patches,":[35],"using":[36],"depth":[38],"image":[39],"from":[40],"Kinect":[42],"camera,":[43],"which":[44,93,110],"are":[45,63,78],"subsequently":[46],"combined":[47],"to":[48,71],"form":[49],"probable":[51],"object":[52],"hypotheses.":[53],"capabilities":[56],"the":[58,61,89,95],"quality":[59],"evaluated":[64],"on":[65,83],"benchmark":[67],"database.":[68],"Advantages":[69],"compared":[70],"existing":[72],"approaches":[73],"as":[74,76],"well":[75],"weaknesses":[77],"discussed.":[79],"also":[81],"report":[82],"an":[84],"autonomous":[85],"grasping":[86],"experiment":[87],"with":[88],"Shadow":[90],"Robot":[91],"Hand":[92],"employs":[94],"estimated":[96],"pose":[99],"given":[102],"by":[103],"our":[104],"task":[108],"it":[111],"cleans":[112],"table.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
