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Springer Tracts in Advanced Robotics
Grasping individual objects from an unordered pile in a box has been investigated in stationary scenarios so far. In this work, we present a complete system including active object perception and grasp planning for bin picking with a mobile robot. At the core of our approach is an efficient representation of objects as compounds of simple shape and contour primitives. This representation is used for both robust object perception and efficient grasp planning. For being able to manipulatedoi:10.1007/978-3-319-03838-4_7 fatcat:ayarclzjerai7lh2dv2dwpktqu