MultiDLO：基于全局-局部拓扑保持的多可变形线性物体形状同步跟踪
机器人学
2025-06-04 v3
摘要
MultiDLO 是一种从 RGB-D 图像序列中估计多个相互缠绕的可变形线性物体（DLO）形状的实时算法。与以往仅跟踪单个 DLO 的方法不同，MultiDLO 可同时处理多个物体。它利用全局-局部拓扑保持算法中的测地距离来定义物体间身份与物体内拓扑，确保缠绕的 DLO 保持可区分且具备准确的局部几何。MultiDLO 算法在两个涉及三根缠绕绳索的挑战性场景中进行了演示，其实现已开源并可供社区使用。
引用
@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}
}
备注
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/]