MIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Graduate Theses
  • View Item
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Graduate Theses
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

On learning from videos/

Author(s)
Cui, Yingnan, S.M. Massachusetts Institute of Technology
Thumbnail
DownloadFull printable version (12.62Mb)
Other Contributors
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Advisor
Kamal Youcef-Toumi.
Terms of use
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582
Metadata
Show full item record
Abstract
The robot phone disassembly task is difficult in many ways: It has requirements on high precision, high speed, and should be general to all types of cell phones. Previous works on robot learning from demonstration are hardly applicable due to the complexity of teaching, huge amounts of data and difficulty in generalization. To tackle these problems, we try to learn from videos and extract useful information for the robot. To reduce the amounts of data we need to process, we generate a mask for the video and observe only the region of interest. Inspired by the idea that spatio-temporal interest point (STIP) detector may give meaningful points such as the contact point between the tool and the part, we design a new method of detecting STIPs based on optical flow. We also design a new descriptor by modifying the histogram of optical flow. The STIP detector and descriptor together can make sure that the features are invariant to scale, rotation and noises. Using the modified histogram of optical flow descriptor, we show that even without considering raw pixels of the original video, we can achieve pretty good classification results.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.
 
Cataloged from PDF version of thesis.
 
Includes bibliographical references (pages 95-97).
 
Date issued
2018
URI
http://hdl.handle.net/1721.1/120233
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.

Collections
  • Graduate Theses

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries
PrivacyPermissionsAccessibilityContact us
MIT
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.