{"id":"https://openalex.org/W2109927104","doi":"https://doi.org/10.1109/ichr.2009.5379539","title":"Partial view modeling and validation in 3D laser scans for grasping","display_name":"Partial view modeling and validation in 3D laser scans for grasping","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2109927104","doi":"https://doi.org/10.1109/ichr.2009.5379539","mag":"2109927104"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2009.5379539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","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/A5042048088","display_name":"Nico Blodow","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nico Blodow","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112225953","display_name":"Radu Bogdan Rusu","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Radu Bogdan Rusu","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003417614","display_name":"Zolt\u00e1n-Csaba M\u00e1rton","orcid":"https://orcid.org/0000-0002-3035-493X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zoltan Csaba Marton","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003274224","display_name":"Michael Beetz","orcid":"https://orcid.org/0000-0002-7888-7444"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Beetz","raw_affiliation_strings":["Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, Technische Universit\u00e4t M\u00fcnchen, Boltzmannstr. 3, Garching bei M\u00fcnchen, 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1609,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.96005933,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"459","last_page":"464"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9948999881744385,"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":0.8188532590866089},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8006314039230347},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7159682512283325},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6339249610900879},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.6147563457489014},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.612913966178894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5877718925476074},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5341775417327881},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5120206475257874},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5033449530601501},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.44563767313957214},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12060245871543884}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8188532590866089},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8006314039230347},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7159682512283325},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6339249610900879},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.6147563457489014},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.612913966178894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5877718925476074},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5341775417327881},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5120206475257874},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5033449530601501},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.44563767313957214},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12060245871543884},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2009.5379539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.391.6473","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.391.6473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ias.in.tum.de/_media/spezial/bib/blodow09humanoids.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318533","display_name":"Multiple System Atrophy Coalition","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W83360984","https://openalex.org/W1510186039","https://openalex.org/W1534742889","https://openalex.org/W2000018820","https://openalex.org/W2046434485","https://openalex.org/W2052286413","https://openalex.org/W2072723786","https://openalex.org/W2085261163","https://openalex.org/W2121502845","https://openalex.org/W2125298120","https://openalex.org/W2130017587","https://openalex.org/W2157439141","https://openalex.org/W6603406552","https://openalex.org/W6679467917","https://openalex.org/W6683073854"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W1984314158","https://openalex.org/W2657478029","https://openalex.org/W4248427955","https://openalex.org/W2106333554","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W2129483190"],"abstract_inverted_index":{"Humanoid":[0],"robots":[1],"performing":[2],"every":[3],"day":[4],"tasks":[5],"in":[6,14,54,81,125],"human":[7],"environments":[8],"need":[9],"a":[10,46,88,114],"strong":[11],"perception":[12,39],"system":[13],"order":[15,82,126],"to":[16,40,83,92,127],"operate":[17],"successfully.":[18],"As":[19],"3D":[20],"data":[21,94],"acquisition":[22],"devices":[23],"like":[24],"laser":[25],"scanners":[26],"and":[27,34,64,71,79],"time":[28],"of":[29,52,99],"flight":[30],"cameras":[31],"get":[32,128],"better":[33,129],"cheaper,":[35],"we":[36,112],"expect":[37],"three-dimensional":[38],"become":[41],"more":[42],"important.":[43],"We":[44],"describe":[45],"new":[47,115],"method":[48,116],"for":[49,108,117],"detecting":[50],"surfaces":[51,67],"revolution":[53],"point":[55],"clouds":[56],"within":[57,120],"our":[58],"Sample":[59,122],"Consensus":[60,123],"Framework.":[61],"Cylinders,":[62],"cones":[63],"arbitrary":[65],"rotational":[66],"can":[68,76,105],"be":[69,77,106],"reliably":[70],"efficiently":[72],"detected.":[73],"Symmetry":[74],"assumptions":[75],"hypothesized":[78],"verified":[80],"complete":[84,103],"the":[85,96,100,121],"model":[86],"from":[87],"single":[89],"view,":[90],"i.e.":[91],"generate":[93],"on":[95],"occluded":[97],"parts":[98],"object.":[101],"These":[102],"models":[104,119],"used":[107],"grasp":[109],"analysis.":[110],"Additionally,":[111],"propose":[113],"scoring":[118],"Framework":[124],"shapes.":[130]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}