@techreport{TUW-179665, author = {Zillich, Michael and Vincze, Markus and M{\"o}rwald, Thomas and Richtsfeld, Andreas and Zhou, Kai and Bekiroglu, Yasemin and Kopicki, Marek}, title = {CogX : Deliverable 2.1 - Representations of 3D shape for manipulation}, institution = {E376 - Institut f{\"u}r Automatisierungs- und Regelungstechnik; Technische Universit{\"a}t Wien}, year = {2009} }