Theses and Dissertations from UMD

Permanent URI for this communityhttp://hdl.handle.net/1903/2

New submissions to the thesis/dissertation collections are added automatically as they are received from the Graduate School. Currently, the Graduate School deposits all theses and dissertations from a given semester after the official graduation date. This means that there may be up to a 4 month delay in the appearance of a give thesis/dissertation in DRUM

More information is available at Theses and Dissertations at University of Maryland Libraries.

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Author: search.filters.author.govindaraj, krithika

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    Unblock: Interactive Perception for Decluttering
    (2021) govindaraj, krithika; Aloimonos, Yiannis; Systems Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    Novel segmentation algorithms can easily identify objects that are occludedor partially occluded, however in highly cluttered scenes the degree of occlusion is so high that some objects may not be visible to a static camera. In these scenarios, humans use action to change the configuration of the environment, elicit more information through perception, process the information before taking the next action. Reinforcement learning models this behavior, however unlike humans, the phase where perception data is understood is not included, as images are directly used as observations. The aim of this thesis is to establish a novel method that indirectly uses perception data for reinforcement learning to address the task of decluttering a scene using a static camera.