Initial Mass and Center of Mass estimation of objects from their point clouds

Initial Mass and Center of Mass estimation of objects from their point clouds

Pegels, Sven (TU Delft Electrical Engineering, Mathematics and Computer Science)

Kroep, H.J.C. (mentor)
Venkatesha Prasad, Ranga Rao (graduation committee)
Weinmann, M. (graduation committee)

Delft University of Technology

Computer Science and Engineering

CSE3000 Research Project

2023-06-28

The current state of teleoperation in Tactile Internet faces the problem of limited operating distance. To circumvent this limitation, a setup has been proposed which provides Ultra-Low Latency feedback to the operator from a local simulation of the remote environment. To be able to accurately simulate the remote environment and the objects within it, an initial estimation of the mass and Center of Mass of these objects is required. We explore three approaches to the estimation of these properties, with the use of Axis-Aligned Bounding Bounding Boxes (AABB), Oriented Bounding Boxes (OBB), and convex hulls. We also explore the impact of sensor resolution and object occlusion. The performance of these methods varies, and highly depends on the type of object. Sensor resolution has a high impact on the estimated mass, but not on Center of Mass. Object occlusion has a clear impact on both, suggesting the use of multiple view points being will improve accuracy.

Tactile Intern
Mass estimation
Center of mass estimation
Point Cloud

http://resolver.tudelft.nl/uuid:2d77dd9d-075c-40ad-aae6-dd289ef7dedf

Student theses

bachelor thesis

© 2023 Sven Pegels