Grasp Densities for Grasp Refinement in Industrial Bin Picking Benedikt Hupfauf 1 Heiko Hahn 1 Leon Bodenhagen 2 Dirk Kraft 2 Norbert Kr¨ uger 2 Justus Piater 1 1 Intelligent and Interactive Systems University of Innsbruck 2 Cognitive Vision Lab The Mærsk Mc-Kinney Møller Institute University of Southern Denmark 09.05.2011 1