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This task is addressed as a augmented reality. There are several tutorial and articles on the web, I suggest you to start from them first. You need first to detect the plane on which you want to make the 3d model lie. Usually a chessboard is used, is more easy to detect the plane. Then the object is rendered on the plane. Take a look at this video, more or less at minute 2:20 The only difficult part maybe is pass the model from Blender to OpenCV.
