Localization and tracking of parameterized objects in point clouds
Name
767834528-MIT.pdf
Description
Full printable version
Size
3.74 MB
Format
Adobe PDF
Checksum (MD5)
44c26190762e7547aae98b02d161e51b
Author(s)
Truax, Robert D. (Robert Denison)
Advisor(s)
John J. Leonard.
Date Issued
2011
Publisher
Massachusetts Institute of Technology
Abstract
This thesis focuses on object recognition and tracking from three dimensional point cloud renderings of dense range and bearing data. Sensors like laser range-finders and depth cameras have become increasingly popular in autonomous robotic applications. A common task is to locate and track specific objects of interest located somewhere in the point cloud. This often introduces a tedious network of heuristics to build objects from identified primitives or an intractable high dimensional search space. Through a parameterized object model and certain relaxation functions, a likelihood based view of the data can be used to accomplish these goals with increased performance and reliability. Improvements in mathematics and convergence properties have shown that this method can be realized in real time.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 43-46).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
Persistent DSpace Link
