This work presents an algorithm for tracking the shape of multiple entangling Deformable Linear Objects (DLOs) from a sequence of RGB-D images. This algorithm runs in real-time and improves on previous single-DLO tracking approaches by enabling tracking of multiple objects. This is achieved using Global-Local Topology Preservation (GLTP). This work uses the geodesic distance in GLTP to define the distance between separate objects and the distance between different parts of the same object. Tracking multiple entangling DLOs is demonstrated experimentally. The source code is publicly released.

翻译：本文提出一种从RGB-D图像序列中追踪多根缠绕可变形线性物体（DLOs）形状的算法。该算法可实现实时运行，并通过全局-局部拓扑保持（GLTP）机制，将此前仅能追踪单根DLO的方法拓展至多物体追踪场景。本文利用GLTP中的测地距离来定义不同物体间以及同一物体不同部位间的距离。实验验证了算法对多根缠绕DLO的追踪能力，并将相关源代码公开发布。