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If you are using a kinect you could first try to find the sphere using or bound the search space using the rgb image.

More generally, a feature should could be able constructed and searched for. The features could include color, radius, and normal distribution.

The trick will be getting proper normals for such a small sphere. I think using normals from the kinect won't work from far away. The farther it is from a 2cm sphere, the fewer points will give you the normal you want (and need) to ID a sphere.

Try it from closer up, with fewer neighbors in your normal extraction step.

If you are using a kinect you could first try to find the sphere using or bound the search space using the rgb image.

More generally, a feature should could be able constructed and searched for. The features could might include color, radius, and normal distribution.

The trick One issue will be getting proper normals for such a small sphere. I think using normals from the kinect won't work from far away. The farther it is from a 2cm sphere, the fewer points will give you the normal you want (and need) to ID a sphere.

Try it from closer up, with fewer neighbors in your normal extraction step.

If you are using a kinect you could first try to find the sphere or bound the search space using the rgb image.

More generally, a feature set could be constructed and searched for. The features might include color, radius, and normal distribution.

One issue will be getting proper normals for such a small sphere. I think using normals from the kinect won't work from far away. The farther it is from a 2cm sphere, the fewer points will give you the normal you want (and need) to ID a sphere.

Try it from closer up, with fewer neighbors in your normal extraction step.