MultiDLO: 複数の変形可能な線状物体の形状を大域的・局所的トポロジーを保ちながら同時追跡
MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservation
RGB-D画像列から、絡み合った複数の変形可能な線状物体（ロープなど）の形状をリアルタイムで同時に推定するアルゴリズムを提案。物体間の区別と各物体のトポロジーを測地距離で保持する。
著者: Jingyi Xiang, Holly Dinkel
分類: cs.RO
原文アブストラクト
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.
