@article{doi:10.1142/S0219843609001796, title = {Towards Grasp-Oriented Visual Perception of Humanoid Robots}, author = {Bohg, Jeannette and Barck-Holst, Carl and Huebner, Kai and Ralph, Maria and Rasolzadeh, Babak and Song, Dan and Kragic, Danica}, journal = {International Journal of Humanoid Robotics}, volume = {06}, number = {03}, pages = {387-434}, year = {2009}, doi = {10.1142/S0219843609001796} }