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This article describes an object perception system for autonomous robots performing everyday manipulation tasks in kitchen environments. The perception system gains its strengths by exploiting that the robots are to perform the same kinds of tasks with the same objects over and over again. It does so by learning the object representations necessary for the recognition and reconstruction in the context of pick and place tasks. The system employs a library of specialized perception routines thatdoi:10.1177/0278364911415897 fatcat:vusnr77u55aspk4ubgqkauqe7q