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SUMMARY:Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning LOCATION:1 Spring Street\, Room 403\, New Brunswick DESCRIPTION;ENCODING=QUOTED-PRINTABLE:
Abstract:
We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulate d by a robot. We specifically consider manipulation tasks in piles of clutt er that contain previously unseen objects. Most manipulation algorithms for performing such tasks require known geometric models of the objects in ord er to grasp or rearrange them robustly. One of the novel aspects of this wo rk is the utilization of a physics engine for verifying hypothesized geomet ries in simulation. The evidence provided by physics simulations is used in a probabilistic framework that accounts for the fact that mechanical prope rties of the objects are uncertain. We present an efficient algorithm for i nferring occluded parts of objects based on their observed motions and mutu al interactions. Experiments using a robot show that this approach is effic ient for constructing physically realistic 3-D models, which can be useful for manipulation planning.
DTSTAMP:20240328T154350Z DTSTART;TZID=America/New_York:20190411T130000 SEQUENCE:0 TRANSP:OPAQUE END:VEVENT END:VCALENDAR