Complete Visual and Geometric Object Reconstruction
via Autonomous Robotic Manipulation
Name
fu-evelynfu-meng-eecs-2025-thesis.pdf
Description
Thesis PDF
Size
17.2 MB
Format
Adobe PDF
Checksum (MD5)
487fbae2cc75080358409a8c8dea638c
Author(s)
Fu, Evelyn
Advisor(s)
Tedrake, Russ
Date Issued
May 2025
Publisher
Massachusetts Institute of Technology
Abstract
Accurately simulating object dynamics based on real-world perception inputs has wide applications in digital twins and robotic manipulation. Yet, doing so requires practitioners to carefully measure and reconstruct the dynamic and geometric properties of the objects, which is time-consuming and requires domain expertise. This project proposes an automatic pipeline to construct 3D representations from a collection of real objects, which can further be used to generate assets with accurate visual texture and collision geometry to be used in simulation. This pipeline will be designed to have minimal hardware requirements and aim to be efficient in time for physical actuation to maximize data collection on minimal hardware.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
In Copyright - Educational Use Permitted
Copyright retained by author(s)
Persistent DSpace Link
