| Title: | OS15-3 Real-time cable tracking by wire segmentation and Coherent Point Drift |
|---|---|
| Publication: | ICAROB2025 |
| Volume: | 30 |
| Pages: | 445-448 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2025.OS15-3 |
| Author(s): | Ryunosuke Yamada, Tokuo Tsuji, Takahiro Shimizu, Shota Ishikawa, Tomoaki Ozaki, Yusuke Sakamoto, Tatsuhiro Hiramitsu, Hiroaki Seki |
| Publication Date: | February 13, 2025 |
| Keywords: | Deformable Linear Objects, Segmentation, Three-dimensional Tracking, Real-time systems |
| Abstract: | In this paper, a real-time cable tracking system by fast segmentation method and Coherent Point Drift (CPD) is proposed. Fast cable segmentation based on color space is inaccurate because of background contrast. Therefore, this technique uses edge information from the image to address this problem. The method consists of three processes: threshold processing in the Luv color space, edge processing using a Laplacian filter, and processing for extracting the common region of the binary images generated by each process. In the experiments, the accuracy of the segmentation region and the processing time required for each process of the tracking system are shown. |
| PDF File: | https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS15/OS15-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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