Tracking small metal balls in 3d

HI GUYS !
I’M NEW HERE ON THE BLOG BUT INTERESTED IN ROBOTICS AND I HAVE A PROBLEM I NEED TO SOLVE SOMEHOW :

  • THERE IS A NOT MOVING SPACE : 600 LONG 100X 60 DEEP LIKE A BRICK ABOVE THE SURFACE
  • IN THIS SPACE I HAVE APPROX. 60 PLASTIC OR METAL STICKS OR BALLS /QUITE SMALL ONES /
  • I NEED TO RECOGNIZE THEM SOMEHOW AND PICK THEM BY ANY ROBOT ARM
  • ALL OF THIS PROCEDURE MUST BE DONE IN DIFFERENT ENVIROMENTS / BALLS IN TEHE BUSH /
  • I ALSO COULD MAKE A FRAME FOR THE SENSORS AND ARMS ABOVE THIS SPACE TO MAKE THE WHOLE PROJECT EASIE

MY QUESTIONS ARE :

  • WHAT IS THE BEST RECOGNITION DEVICE TO TRACK EITHER METAL OR PLASTIC STICKS OR BALLS IN 3D IN DIFFERENT ENVIROMENTAL SETS / E.G. DARKNESS /
    -HOW SHOULD I DESCRIBE THE EGZAKT POSITION FOR THE RECOGNIZED ITEMS IN ORDER TO PICK THEM BY THE ARMS /ESPECIALLY TO GIVE THE COORDINATES OF THE SMALL BALLS/STICKS FOR THE GRIPPER HAND /
  • WHAT IS THE BEST SENSOR SET FOR THE ARMS TO FIND AND GRIP THE STICKS/BALLS ONE BY ONE

MY IMAGINE TO MAKE A KIND OF MAP WITH ANY SENSORS OF THE WHOLE SPACE I DESCRIBED, AND GIVE GROUPS OF ITEMS FOR EVERY ARM MORE OR LESS EQUALLY, THAN EACH ARM SUPPOSE TO LOCALIZE EACH GIVEN ITEMS, PICK THEM THAN PLACE THEM SOMWHERE ELSE

I’M REALLY DESPERATE FOR ANY SOLUTIONS PRIMARY TECHNICALLY, THE MATHEMATICAN TRANSLATION IS NOT IN MY WIEV AT THE MOMENT.
IN CASE ANY ONE OF YOU COULD HELP ME WOULD BE APPRECIATED.
EXCUSE ME FOR MY ENGLISH, IS ANYTHING IS NOT CLEAR, PLS WRITE ME.
THANK YOU FOR YOUR HELP TAMAS :open_mouth: