Tracking linear deformable objects using slicing method

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In this paper, an efficient novel method for tracking the linear deformable objects (LDOs) in real time is proposed. The method is developed based on recursively slicing a pointcloud into smaller pointclouds with sufficiently small variance. The performance of this method is investigated through a series of experiments with various camera resolutions in simulation when a robot end effector tracking an LDO using an RGBD camera, and in real word when the camera tracks a rope during a swing. The performance of the proposed method is compared with another state-of-the-art technique and the outcome is reported here.
Original languageEnglish
Pages (from-to)1-19
Early online date9 Aug 2021
Publication statusE-pub ahead of print - 9 Aug 2021


  • cable management
  • deformable object
  • kinematic control
  • real-time tracking
  • slicing


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