Autonomous recognition of multiple cable topology with image

Rei Fujiki, Hideyuki Tanaka, Yoshinobu Kawahara, Takehisa Yairi, Kazuo Machida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


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.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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