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Massachusetts Institute of Technology
Grid Inference and Partial Scan Registration for Intelligent Collaborative Robot Systems
Abstract
dc:description.abstractThis thesis proposes advancement of the collaborative and intelligent abilities of Tutor Intelligence robot systems through leveraging the geometry of array structures to perform online inference of object locations and registering partial in-hand scans to automatically orient objects. This research will automate portions of the data annotation process required for the robots’ deep intelligence, enabling the collaborative robot systems to more efficiently and effectively perform pick-and-place tasks. Evaluation is conducted through an exploratory pilot study, and further design recommendations are given.
Degree
thesis:*- Name thesis:degree_name
- Master
- Department dc:contributor.department
- Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
- Grantor dc:publisher
- Massachusetts Institute of Technology
- Year dc:date.issued
- 2023
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Chen, Valerie K.
- Advisors dc:contributor.advisor
-
- Shah, Julie A.
- Gruenstein, Joshua
Rights
dc:rights- Statement dc:rights
-
- In Copyright - Educational Use Permitted
- Copyright retained by author(s)
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Handle dc:identifier.uri
- https://hdl.handle.net/1721.1/151542
- OAI identifier oai:identifier
- oai:dspace.mit.edu:1721.1/151542