Autonomous Recognition ofMultiple CableTopology withImage

Fromindustrial situation toordinary life, there arealotofcables intoday's society. There, however, arenot manystudies that describe thetopological relationship between multibple cables forautonomous operation ofrobotics device. Inthis paper, anautonomous computing waytocreate 3-Dtopological modelofmultiple cables using imageis discussed. Cable modelisdescribed byprobablity density function andoptimized its parameters viaEM Algorithm, that indicates theconfiguration andtopological relationships. Inorder tomanipulate theobject cables then, depth fromsensor topoints areadded totheunique points intopological graph structure derived fromEM model. Thequantitative results ofbasic experiment that wasaimedtoprove therecognition possibility viathealgorithm arereported.