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：本文提出了一种基于RGB-D图像序列追踪多个纠缠可变形线性物体（DLOs）形状的算法。该算法实现实时运行，通过全局-局部拓扑保持（GLTP）机制，在先前单DLO追踪方法的基础上实现了对多个物体的同步追踪。本文利用GLTP中的测地距离定义不同物体之间的距离以及同一物体不同部位之间的距离。通过实验验证了该算法对多个纠缠DLOs的追踪效果，并已公开发布其源代码。