{"id":"https://openalex.org/W2025937932","doi":"https://doi.org/10.2478/s13230-012-0020-5","title":"VisGraB: A Benchmark for Vision-Based Grasping","display_name":"VisGraB: A Benchmark for Vision-Based Grasping","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W2025937932","doi":"https://doi.org/10.2478/s13230-012-0020-5","mag":"2025937932"},"language":"en","primary_location":{"id":"doi:10.2478/s13230-012-0020-5","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-012-0020-5","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0020-5/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0020-5/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063259309","display_name":"Gert Kootstra","orcid":"https://orcid.org/0000-0002-2579-4324"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Gert Kootstra","raw_affiliation_strings":["Computer Vision and Active Perception Lab, CSC, Royal Institute of Technology (KTH), Stockholm, Sweden","Royal Institute of Technology (KTH)"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, CSC, Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Royal Institute of Technology (KTH)","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055691687","display_name":"Mila Popovi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]},{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Mila Popovi\u0107","raw_affiliation_strings":["Cognitive Vision Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense, Denmark","[University of Southern Denmark]"],"affiliations":[{"raw_affiliation_string":"Cognitive Vision Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]},{"raw_affiliation_string":"[University of Southern Denmark]","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051598272","display_name":"Jimmy Alison J\u00f8rgensen","orcid":null},"institutions":[{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]},{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Jimmy Alison J\u00f8rgensen","raw_affiliation_strings":["Robotics Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense, Denmark","[University of Southern Denmark]"],"affiliations":[{"raw_affiliation_string":"Robotics Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]},{"raw_affiliation_string":"[University of Southern Denmark]","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Computer Vision and Active Perception Lab, CSC, Royal Institute of Technology (KTH), Stockholm, Sweden","Royal Institute of Technology (KTH)"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, CSC, Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Royal Institute of Technology (KTH)","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058044864","display_name":"Henrik Gordon Petersen","orcid":"https://orcid.org/0000-0002-0425-170X"},"institutions":[{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]},{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Henrik Gordon Petersen","raw_affiliation_strings":["Robotics Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense, Denmark","[University of Southern Denmark]"],"affiliations":[{"raw_affiliation_string":"Robotics Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]},{"raw_affiliation_string":"[University of Southern Denmark]","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025978995","display_name":"Norbert Kr\u00fcger","orcid":"https://orcid.org/0000-0002-3931-116X"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Norbert Kr\u00fcger","raw_affiliation_strings":["Cognitive Vision Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense, Denmark","[University of Southern Denmark]"],"affiliations":[{"raw_affiliation_string":"Cognitive Vision Lab, The M\u00e6rsk Mc-Kinney M\u00f8ller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]},{"raw_affiliation_string":"[University of Southern Denmark]","institution_ids":["https://openalex.org/I177969490"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5063259309"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":{"value":1000,"currency":"EUR","value_usd":1078},"apc_paid":{"value":1000,"currency":"EUR","value_usd":1078},"fwci":5.1219,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.95020053,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","issue":"2","first_page":null,"last_page":null},"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":0.9912999868392944,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9763000011444092,"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/benchmark","display_name":"Benchmark (surveying)","score":0.622306227684021},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6193400025367737},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5669186115264893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5490187406539917},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40345093607902527},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12579086422920227},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09622374176979065}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.622306227684021},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6193400025367737},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5669186115264893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5490187406539917},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40345093607902527},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12579086422920227},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09622374176979065}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.2478/s13230-012-0020-5","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-012-0020-5","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0020-5/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/c99b19e7-7ca6-46af-a7ec-a08f0f6f7fcf","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/c99b19e7-7ca6-46af-a7ec-a08f0f6f7fcf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Kootstra, G, Popovic, M, J\u00f8rgensen, J A, Kragic, D, Petersen, H G & Kr\u00fcger, N 2012, 'VisGraB: A Benchmark for Vision-Based Grasping. Paladyn Journal of Behavioral Robotics', Paladyn: Journal of Behavioral Robotics, vol. 3, no. 2, pp. 54-62. https://doi.org/10.2478/s13230-012-0020-5","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:94e587abecfc441cb1532b29c737edf4","is_oa":true,"landing_page_url":"https://doaj.org/article/94e587abecfc441cb1532b29c737edf4","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Paladyn, Vol 3, Iss 2, Pp 54-62 (2012)","raw_type":"article"},{"id":"pmh:wur:oai:library.wur.nl:wurpubs/571815","is_oa":false,"landing_page_url":"https://research.wur.nl/en/publications/visgrab-a-benchmark-for-vision-based-grasping","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Paladyn, Journal of Behavioral Robotics, 3(2)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.2478/s13230-012-0020-5","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-012-0020-5","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0020-5/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.44999998807907104}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"},{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2025937932.pdf","grobid_xml":"https://content.openalex.org/works/W2025937932.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W645084999","https://openalex.org/W1483650263","https://openalex.org/W1510186039","https://openalex.org/W1550329840","https://openalex.org/W1576445103","https://openalex.org/W1794703952","https://openalex.org/W1808974695","https://openalex.org/W1930968146","https://openalex.org/W1935206292","https://openalex.org/W1972094833","https://openalex.org/W2016876803","https://openalex.org/W2021473074","https://openalex.org/W2031489346","https://openalex.org/W2041376653","https://openalex.org/W2050672442","https://openalex.org/W2051299646","https://openalex.org/W2053248988","https://openalex.org/W2057493164","https://openalex.org/W2104974755","https://openalex.org/W2106628124","https://openalex.org/W2106638738","https://openalex.org/W2108640380","https://openalex.org/W2109708716","https://openalex.org/W2112742338","https://openalex.org/W2126496149","https://openalex.org/W2133419167","https://openalex.org/W2133564229","https://openalex.org/W2143192604","https://openalex.org/W2156219259","https://openalex.org/W2165603175","https://openalex.org/W2172108647","https://openalex.org/W4412241296","https://openalex.org/W6634343353"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Abstract":[0],"We":[1],"present":[2,113],"a":[3,6,28,56,94,121,146],"database":[4],"and":[5,31,73,102,108,111],"software":[7],"tool,":[8],"VisGraB,":[9],"for":[10,14,58,86],"benchmarking":[11],"of":[12,17,37,97,150],"methods":[13,143],"vision-based":[15],"grasping":[16,126],"unknown":[18],"objects":[19,42],"with":[20,106,136],"no":[21],"prior":[22],"object":[23],"knowledge.":[24],"The":[25,51,67,128],"benchmark":[26,148],"is":[27],"combined":[29],"real-world":[30],"simulated":[32],"experimental":[33],"setup.":[34],"Stereo":[35],"images":[36],"real":[38,64,116],"scenes":[39],"containing":[40],"several":[41,81],"in":[43,48,114],"different":[44,125],"configurations":[45],"are":[46,69,84,154],"included":[47],"the":[49,63,76,91,109,115,141],"database.":[50],"user":[52,129],"needs":[53],"to":[54,134],"provide":[55],"method":[57],"grasp":[59,78,152],"generation":[60],"based":[61],"on":[62,140],"visual":[65],"input.":[66],"grasps":[68,98],"then":[70],"planned,":[71],"executed,":[72],"evaluated":[74,103],"by":[75],"provided":[77],"simulator":[79],"where":[80],"grasp-quality":[82],"measures":[83],"used":[85],"evaluation.":[87],"This":[88],"setup":[89],"has":[90],"advantage":[92],"that":[93],"large":[95],"number":[96],"can":[99],"be":[100],"executed":[101],"while":[104],"dealing":[105],"dynamics":[107],"noise":[110],"uncertainty":[112],"world":[117],"images.":[118],"VisGraB":[119],"enables":[120],"fair":[122],"comparison":[123],"among":[124],"methods.":[127],"furthermore":[130],"does":[131],"not":[132],"need":[133],"deal":[135],"robot":[137],"hardware,":[138],"focusing":[139],"vision":[142],"instead.":[144],"As":[145],"baseline,":[147],"results":[149],"our":[151],"strategy":[153],"included.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}