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RMDLO / trackdlo

[RA-L 2023, ICRA 2024, ICRA RMDO 2024] This repository contains the code used in our paper, "TrackDLO: Tracking Deformable Linear Objects Under Occlusion with Motion Coherence." This algorithm is useful for tracking the motion of DLOs, including wire and rope, under several categories of occlusion without physics simulation.
https://ieeexplore.ieee.org/document/10214157
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Question on texture-less rope. #62

Closed changhaonan closed 1 year ago

changhaonan commented 1 year ago

Hi,

I'd like to know if this algorithm support textureless, e.g. Cable. It seems that the bag provided is mostly a textured rope.

jingyi-xiang commented 1 year ago

Yes, the textured rope bag files provided are only for quantitative evaluation. I will update the readme soon to include more details.

hollydinkel commented 1 year ago

Hi @changhaonan - thank you for your question! We do not use any texture information in the TrackDLO algorithm. TrackDLO requires a segmentation of the DLO for each frame, but this is obtained through HSV thresholding. You can find the HSV thresholding values we use for our objects in the trackdlo.launch file. You can also see other types of objects we trackded in our demonstration video. I hope this helps - please let us know if you have any more questions!