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LEGO brick object detection

Hi, we have got a lot of lego sets mixed up in one box. My aim is to lay all lego bricks on the table an let opencv magic decide where a certain brick (of a set) lays.

Many lego bricks are available in 3D models (e.g.

I found surface matching algorithm, which maybe can do this ( But I do not know if this module can read *.dat 3D Models. And I do not know if I am on the right track.

Has anyone some tips for me where to start?