2026-09-18T22:53:30Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1064002026-06-06T00:49:23Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Tomás Lozano-Pérez.
Zhu, Charlotte
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2017-01-12T18:19:12Z
2017-01-12T18:19:12Z
2016
2016
http://hdl.handle.net/1721.1/106400
967705113
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).
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.
by Charlotte Zhu.
M.Eng.
48 pages
eng
Massachusetts Institute of Technology
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.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Point cloud segmentation for mobile robot manipulation
Thesis
application/pdf
Publication
unknown
unknown
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