Geometric perception
(part 2)
MIT 6.881: Robotic Manipulation
Fall 2020, Lecture 7
Follow live at https://slides.com/russtedrake/fall20-lec07/live
(or later at https://slides.com/russtedrake/fall20-lec07)
So far, we have assumed a "perception oracle" that could tell us \(X^O_W\).
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Stop using "cheat ports"
Use the cameras instead!
Real point clouds are messy
figure from Chris Sweeney et al. ICRA 2019.
to the "whiteboard"...
Today's Breakouts
I've put together some questions to guide you.
The points DO NOT MATTER.