Hello,

I'm working on a research project where I need to estimate in real time the 6DOF pose of objects in a pick and place tasks. The pose must be estimate in real time, and the objects can be one on top of the other, so I have to get the position and the orientation of the object on the top. The problem is that the objects are same ( PPVC blocks, in the construction field) and with quite regular shape.

So how to compare the known 3D CAD model in a single 2D image of point clouds from RGBD Camera with the object that is on the top, so can get the 6DOF pose in real time. Any approach can be used, but must be very accurate as very high precision is required.

So approach of compare known 3D CAD objects from a single 2D image, also only using PCL (point clouds library ) and also compare known 3D CAD objects from a Point clouds are ok.

Any code I can start with ?

Thanks