Method for determining a three-dimensional pose of an object

A method for determining a three-dimensional pose of an object (4) by using an optical sensor unit (6) for capturing the object (4), the optical sensor unit (6) being connected to a data processing unit (7), the method comprising:

• providing a target marker (1) for determining a three-dimensional pose of an object (4), wherein the target marker (1) has encoding modules (2) that are present in a defined module pattern (10) that encodes a character string comprising specific information that defines a size of the target marker,
• and/or
• gripping parameters for gripping the object (4) selected from the group consisting of a gripping pose of a gripper, a gripper geometry, and gripper forces;
• arranging the target marker (1) on the object (4);
• positioning the optical sensor unit in front of the object (4) such that the object (4) is in a detection range of the optical sensor unit and, by the optical sensor unit, detecting the target marker on the object;
• determining centers of the module patterns of the target marker by the data processing unit, and reading out the specific information;
• determining a hypothetical three-dimensional pose of the target marker on the object (4) based on the specific information in the data processing unit;
• and
• continuously varying the hypothetical three-dimensional pose of the target marker until the center of the module pattern coincides with the
• determined center of the module pattern, thereby determining an actual three-dimensional pose of the target marker.