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Published on Jul 6, 2012
We present a real-time algorithm that segments unstructured and highly cluttered scenes. The algorithm robustly separates objects of unknown shape in congested scenes of stacked and partially occluded objects using the depth image from a Kinect camera. We also show an autonomous grasping experiment with the Shadow Robot Hand which employs the estimated shape and pose of objects given by our algorithm in a task in which it cleans a table.