Abstract: A method for inserting a wire. An image of a connector is generated using a camera system connected to an end effector. The end effector is at a connector pose facing the connector. A region in the image encompassing the connector is selected. An initial mask is created using the image and the region. The initial mask comprises a background region and a connector region. A segmentation mask is created using the initial mask and the image, wherein the segmentation mask includes edges for the connector. Thresholding is applied to the segmentation mask to recover pixels for the connector and generate a final mask. The final mask is used to insert the wire into the connector.