The setup was composed of a six-degrees-of-freedom (6 turning joints) robot arm (Amtec Robotics) with a linear two-finger gripper and two cameras mounted on a pan-tilt unit (figure 6.3). However, just one camera was used, and its direction was fixed. The camera image was in color and had a resolution of 320×240 pixels. For grasping, a rectangularly shaped ( 74×24×24 mm) red brick was placed on a table in front of the cameras and the arm. The illumination in the room was kept constant.