6D pose estimation and tracking of multiple objects with complex geometry for joining verification/progress tracking.

Hello everyone,
I want to detect and track 10 different objects that can be assembled like big lego bricks, but with more complex shapes. The order of assembly is fixed and only 2 parts will be joined in each step. I want to measure the percentage of completion or track the completion progress based on how many parts are connected correctly. I have access to sensor data from the Azure Kinect Sensor and additional sensors from the HoloLens 2, e.g. …

assembly big computervision geometry lego multiple objects progress tracking verification