RMDLO / trackdlo

[RA-L 2023, ICRA 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.

TrackDLO: Tracking Deformable Linear Objects Under Occlusion with Motion Coherence

IEEE Robotics and Automation Letters (IEEE Xplore: https://ieeexplore.ieee.org/document/10214157)

This repository contains the TrackDLO Robot Operating System (ROS) package. The TrackDLO ROS package is an implementation of our paper, TrackDLO: Tracking Deformable Linear Objects Under Occlusion with Motion Coherence, by Jingyi Xiang, Holly Dinkel, Harry Zhao, Naixiang Gao, Brian Coltin, Trey Smith, and Timothy Bretl. The TrackDLO algorithm is implemented in C++.

Get Started

The requirements and run instructions page provides information on package installation and usage.

Learn More

The supplementary video showcases experiments and failure cases.

The supplemental documentation contains details about the initialization process and parameter tuning.

Bibtex

@ARTICLE{
  xiang2023trackdlo,
  author={Xiang, Jingyi and Dinkel, Holly and Zhao, Harry and Gao, Naixiang and Coltin, Brian and Smith, Trey and Bretl, Timothy},
  journal={IEEE Robotics and Automation Letters}, 
  title={TrackDLO: Tracking Deformable Linear Objects Under Occlusion With Motion Coherence}, 
  year={2023},
  volume={8},
  number={10},
  pages={6179-6186},
  doi={10.1109/LRA.2023.3303710}
}