Determination of the identity, position and orientation of the topmost object in a pile

@article{Yang1986DeterminationOT,
  title={Determination of the identity, position and orientation of the topmost object in a pile},
  author={Hyun Sik Yang and C. Kak},
  journal={Computer Vision, Graphics, and Image Processing},
  year={1986},
  volume={36},
  pages={229-255}
}
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