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arXiv · 2310.13245

MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservation

Jingyi Xiang·Holly Dinkel
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Abstract

MultiDLO is a real-time algorithm for estimating the shapes of multiple, intertwining deformable linear objects (DLOs) from RGB-D image sequences. Unlike prior methods that track only a single DLO, MultiDLO simultaneously handles several objects. It uses the geodesic distance in the Global-Local Topology Preservation algorithm to define both inter-object identity and intra-object topology, ensuring entangled DLOs remain distinct with accurate local geometry. The MultiDLO algorithm is demonstrated on two challenging scenarios involving three entangling ropes, and the implementation is open-source and available for the community.

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Jingyi Xiang, Holly Dinkel. 2023-10-20. MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservation. https://arxiv.org/abs/2310.13245

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