Cable detection method, robot and storage device

A cable detection method, comprising:

• acquiring a RGB image and a corresponding depth image of cables;
• performing image segmentation on the RGB image, and binning adjacent pixels with similar pixel features in the RGB image into superpixels;
• determining target similarities between at least part of the superpixels and adjacent superpixels, and detecting the cables in the RGB image according to the target similarities between at least part of the superpixels and the adjacent superpixels;
• judging whether the cables are overlapped;
• in response to detecting that the cables are overlapped, determining overlapping relationships between the detected cables according to the depth image;
• wherein the determining the overlapping relationships between the detected cables according to the depth image comprises:
• for any two overlapped cables that are detected in the RGB image, extracting overlapped superpixels between the two cables, and determining a first depth value of the overlapped superpixels according to the depth image;
• extracting adjacent superpixels with a second preset number of superpixels from the two cables, respectively, and determining respective second depth values corresponding to the adjacent superpixels extracted from the two cables according to the depth image;
• calculating depth differences between the adjacent superpixels extracted from the two cables and the overlapped superpixels, respectively, according to the first depth value and the second depth value;
• and
• determining the overlapping relationship between the detected cables according to the depth differences, wherein the overlapped superpixels are assigned to a corresponding one of the two cables with a smaller depth difference, and the corresponding one of the two cables with a larger depth difference is marked as being stressed.