  This work presents an algorithm for tracking the shape of multiple entangling
Deformable Linear Objects (DLOs) from a sequence of RGB-D images. This
algorithm runs in real-time and improves on previous single-DLO tracking
approaches by enabling tracking of multiple objects. This is achieved using
Global-Local Topology Preservation (GLTP). This work uses the geodesic distance
in GLTP to define the distance between separate objects and the distance
between different parts of the same object. Tracking multiple entangling DLOs
is demonstrated experimentally. The source code is publicly released.
