Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB Object Tracking by Shape (OTS) enables you to identify the (three-dimensional) position and orientation of objects on the basis of video recordings and CAD models.
Only one camera is required for video recording. Up to six degrees of freedom can be estimated.
All you need is a three-dimensional CAD model of the object to be tracked. Its two-dimensional projection is adapted to the structures in your actual video image. Your target object is thus found and tracked in the image.
It does not matter whether your object is partially hidden. Other unfavourable shooting conditions (poor lighting conditions, complex backgrounds, shadows) do not affect OTS either.