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Programming industrial robots in a real-life environment is a significant task necessary to be dealt with in modern facilities. The "pick up and place" task is undeniably one of the regular robot programming problems which needs to be solved. At the beginning of the "pick and place" task, the position determination and exact detection of the objects for picking must be performed. In this paper, an advanced approach to the detection and positioning of various objects is introduced. The approachdoi:10.25046/aj0602104 fatcat:g3gbosz3rjafdeujem5bm2fzti