  In this work, we present a geometry-based grasping algorithm that is capable
of efficiently generating both top and side grasps for unknown objects, using a
single view RGB-D camera, and of selecting the most promising one. We
demonstrate the effectiveness of our approach on a picking scenario on a real
robot platform. Our approach has shown to be more reliable than another recent
geometry-based method considered as baseline [7] in terms of grasp stability,
by increasing the successful grasp attempts by a factor of six.
