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.
@article{arxiv.2310.13245,
title = {MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservation},
author = {Jingyi Xiang and Holly Dinkel},
journal= {arXiv preprint arXiv:2310.13245},
year = {2025}
}
Comments
3 pages, 3 figures, presented at the 3rd Workshop on Representing and Manipulating Deformable Objects at the IEEE International Conference on Robotics and Automation. Video presentation [https://youtu.be/hfiqwMxitqA]. 3rd Workshop on Representing and Manipulating Deformable Objects [https://deformable-workshop.github.io/icra2023/]