Autonomous recognition of multiple cable topology with image

From industrial situation to ordinary life, there are a lot of cables in today's society. There, however, are not many studies that describe the topological relationship between multibple cables for autonomous operation of robotics device. In this paper, an autonomous computing way to create 3-D topological model of multiple cables using image is discussed. Cable model is described by probablity density function and optimized its parameters via EM Algorithm, that indicates the configuration and topological relationships. In order to manipulate the object cables then, depth from sensor to points are added to the unique points in topological graph structure derived from EM model. The quantitative results of basic experiment that was aimed to prove the recognition possibility via the algorithm are reported.