Algorithm to pick up moving objects

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Hello Everyone,

I am a newbie to ROS.

I have a task wherein there is a running conveyor belt with objects on it which have to be picked up a Robotic Arm and placed at some other location all with getting data from a Microsoft Kinect.

I would like to know of some ideas / algorithms that one may use in such a scenario to accomplish this task. Some help with some tools to accomplish this task would also be helpful.

Cheers, Jalashwa