Abstract

The dataset contains the source code utilized for the experimental validation of the 3D deformable linear objects shape reconstruction and tracking system. The developed approach is called DLO3DS. The developed procedure is based on a pipeline that first processes the images coming from the 2D camera extracting key topological points along the DLOs. These points are then used to model each DLO with a B-spline curve. Finally, the set of splines obtained from all the images is matched by exploiting a multi-view stereo-based algorithm. The associated publication is the following: A. Caporali, K. Galassi and G. Palli, "Deformable Linear Objects 3D Shape Estimation and Tracking From Multiple 2D Views," in IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3852-3859, June 2023, doi: 10.1109/LRA.2023.3273518.