Make 3D Cable Model from Single RGB Image

Along with the electrification, there are many electrical equipment are used in our daily life. Using those equipment we need cables to charge and connect them. But, sometimes cables will become problems, like when we clean the room the cables will be annoying. We think if we can resolve this problem with robot, it will save lots of time for people. But, unfortunately, there is no system which can manipulate cables with robot. The key point is cable can deform it's shape. Because of this, we can't recognize and record cables position correctly from picture. And if we want to manipulate cables with robot, the 3D information of cables is far batter than 2D information. Therefore, in this paper, we made a system which can build a 3D voxels model base on 2D image as a beforehand for use robot to manipulate cables. In our system, we cut input image into a series of small pictures and make 3D model based on each pictures then we assemble those 3D model together. So we can get a complete 3D model(output of this system) which is made base on input image and can represent the 3D cables position. Our method can transfer 2D data to 3D data, this let us can get 3D information from image and we think this is useful in robot science.