@conference {123, title = {Vision-based grasp planning of 3D objects by extending 2D contour based algorithms}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2008}, month = {09/2008}, address = {Nice, France}, isbn = {978-1-4244-2058-2}, author = {Speth, J. and Morales, Antonio and Sanz, Pedro J.} }