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Replace a external vision localization system (like Vicon or OptiTrack) with a much simpler one using only a onboard camera: train a neural network (just as our hookfinder) to recognize an object and determine its exact pose (position and orientation) relative to the camera seeing it. When you know the exact position of the object you can also determine your relative position to it and thus use it as a source of localization. #idea/startup
Iterative closest point (Iterative Closest Point) can be used to estimate the pose of the hook. For this we can use libpointmatcher or simpleICP. But for the fist implementation we will just use 3 points and do it statically.
