# MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservation

arXiv: https://arxiv.org/abs/2310.13245 · HTML: https://mlsanity.com/paper/2310.13245/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Oct 2023.

## Built on by (most cited first, 3 of 3)

- [DLO-Splatting: Tracking Deformable Linear Objects Using 3D Gaussian Splatting](https://mlsanity.com/paper/2505.08644/) (2025)
- [KnotDLO: Toward Interpretable Knot Tying](https://mlsanity.com/paper/2506.22176/) (2025)
- [MotionDLO: Hybrid Event- and Frame-Based Tracking of Deformable Linear Objects](https://mlsanity.com/paper/2608.22398/) (2026)

## Abstract (arXiv)

MultiDLO is a real-time algorithm for estimating the shapes of multiple, intertwining deformable linear objects (DLOs) from RGB-D image sequences. Unlike prior methods that track only a single DLO, MultiDLO simultaneously handles several objects. It uses the geodesic distance in the Global-Local Topology Preservation algorithm to define both inter-object identity and intra-object topology, ensuring entangled DLOs remain distinct with accurate local geometry. The MultiDLO algorithm is demonstrated on two challenging scenarios involving three entangling ropes, and the implementation is open-source and available for the community.