# From Single 2D Depth Image to Gripper 6D Pose Estimation: A Fast and Robust Algorithm for Grabbing Objects in Cluttered Scenes

> Research article (Robotics, 2019) · cited 13× · AI/ML

**Wikidata**: [openalex:W3104438471](https://www.wikidata.org/wiki/openalex:W3104438471)  
**Source**: https://4ort.xyz/entity/from-single-2d-depth-image-to-gripper-6d-pose-estimation-a-fast-and-robust-algorithm-for-grabbing-objects-in-cluttered-s