Point cloud segmentation for mobile robot manipulation
Author(s)
Zhu, Charlotte
DownloadFull printable version (9.235Mb)
Other Contributors
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Advisor
Tomás Lozano-Pérez.
Terms of use
Metadata
Show full item recordAbstract
In this thesis, we develop a system for estimating a belief state for a scene over multiple observations of the scene. Given as input a sequence of observed RGB-D point clouds of a scene, a list of known objects in the scene and their pose distributions as a prior, and a black-box object detector, our system outputs a belief state of what is believed to be in the scene. This belief state consists of the states of known objects, walls, the floor, and "stuff" in the scene based on the observed point clouds. The system first segments the observed point clouds and then incrementally updates the belief state with each segmented point cloud.
Description
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (pages 47-48).
Date issued
2016Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer SciencePublisher
Massachusetts Institute of Technology
Keywords
Electrical Engineering and Computer Science.