2026-09-20T23:35:48Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1627112025-09-19T04:49:35Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Tedrake, Russ
Fu, Evelyn
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2025-09-18T14:28:33Z
2025-09-18T14:28:33Z
2025-05
2025-06-23T14:01:58.854Z
https://hdl.handle.net/1721.1/162711
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.
M.Eng.
Massachusetts Institute of Technology
In Copyright - Educational Use Permitted
Copyright retained by author(s)
https://rightsstatements.org/page/InC-EDU/1.0/
Complete Visual and Geometric Object Reconstruction
via Autonomous Robotic Manipulation
Thesis
application/pdf
Master
Master of Engineering in Electrical Engineering and Computer Science
Publication
unknown
unknown
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<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.</Abstract>
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