Estimating the mass of an object from its point cloud for Tactile Internet
T.C. Baars (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Herman Kroep – Mentor (TU Delft - Embedded Systems)
Rangarao Venkatesha Prasad – Mentor (TU Delft - Embedded Systems)
S. Roos – Graduation committee member (TU Delft - Data-Intensive Systems)
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Abstract
A problem faced by Tactile Internet (TI) is the distance limitation. A possible solution is to create a simulation of the remote environment, such that the delay experienced by a human operator is reduced. However, to obtain a model of the remote environment, before the user interacts with it, we need to be able to estimate the physical properties of objects in the environment from visual information.
This research paper investigates estimating an object's mass from visual information in the form of a point cloud. The object's volume is estimated by surfacing the mesh and dividing the resulting mesh into tetrahedrons, the volume of each tetrahedron can quickly be computed and summed to give an estimate of the total volume. The overall performance is better than the naive approach of using an OBB, however, it is less accurate than a volume slicing approach.