Image-based object recognition and dexterous hand/arm motion planning using RRTs for grasping in cluttered scene. - Yutaka Hirano; Ken-ichi Kitahama; Shintaro Yoshizawa (IROS, 2005)

Vision-based scene representation for 3D interaction of service robots. - Ken-ichi Kitahama; Akihiro Tsukada; Franck Galpin; Toshiyuki Matsubara; Yutaka Hirano (IROS, 2006)