Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been successful methods to model and track deformable linear objects. However, the number of methods that can automatically extract the initial conditions in non-trivial situations for these methods has been limited, and they have been introduced to the community only recently. On the other hand, while physical interaction with these objects has been done with ground manipulators, there have not been any studies on physical interaction and manipulation of the deformable linear object with aerial robots. This workshop describes our recent work on detecting deformable linear objects, which uses the segmentation output of the existing methods to provide the initialization required by the tracking methods automatically. It works with crossings and can fill the gaps and occlusions in the segmentation and output the model desirable for physical interaction and simulation. Then we present our work on using the method for tasks such as routing and manipulation with the ground and aerial robots. We discuss our feasibility analysis on extending the physical interaction with these objects to aerial manipulation applications.

翻译：可变形线性物体（例如电缆、绳索和线）在日常生活中随处可见。然而，对这些物体的感知及其物理交互研究仍是一个发展中的领域。目前已有成功的方法对可变形线性物体进行建模与跟踪，但能够自动为非平凡场景下的这些方法提取初始条件的方案数量仍然有限，且直至近期才被引入学界。另一方面，尽管地面机械臂已实现与这类物体的物理交互，但尚未出现关于空中机器人对可变形线性物体进行物理交互与操控的研究。本研讨会描述了我们近期在可变形线性物体检测方面的工作，该方法利用现有方法的分割输出，自动为跟踪方法提供所需的初始化。它能够处理交叉情况，填补分割中的间隙与遮挡，并输出适用于物理交互与仿真的模型。随后，我们介绍了将该方法应用于地面与空中机器人的布线及操控等任务的研究。我们讨论了将这类物体的物理交互扩展到空中操控应用场景的可行性分析。