Classifying Cable Tendency with Semantic Segmentation by Utilizing Real and Simulated RGB Data

Abstract

Cable tendency is the potential shape or characteristic that a cable may possess while being manipulated, of which some are considered erroneous and should be identified as a part of anomaly detection during an automatic manipulation. This research explores the ability of deep-learning models in learning the cable tendencies that, contrary to typical classification tasks of multi-object scenarios, is to differentiate the multiple states displayable by the same object -- in this case, cables. By training multiple models with different combinations of self-collected real-world data and self-generated simulation data, a comparative study is carried out to compare the performance of each approach. In conclusion, the effectiveness of detecting three abnormal states and shapes of cables, and using simulation data is certificated in experiments.