Real time 6D pose estimation of known 3D CAD objects from a single 2D image or point clouds from RGBD Camera when objects are one on top of the other?
问题 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 and identical, 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) but good thing is that they are with quite regular shape. So how to compare the known 3D CAD model in a single