Complete Visual and Geometric Object Reconstruction via Autonomous Robotic Manipulation

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.

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

2025

Author dc:creator

• Fu, Evelyn

Advisor dc:contributor.advisor

• Tedrake, Russ

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright retained by author(s)

Licence dc:rights.uri

• https://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/162711

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/162711