Point cloud segmentation for mobile robot manipulation
Name
967705113-MIT.pdf
Description
Full printable version
Size
9.24 MB
Format
Adobe PDF
Checksum (MD5)
9c81d190452719ed7ba365cfbd0de2ee
Author(s)
Zhu, Charlotte
Advisor(s)
Tomás Lozano-Pérez.
Date Issued
2016
Publisher
Massachusetts Institute of Technology
Abstract
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).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
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