  Table-top Rearrangement and Planning is a challenging problem that relies
heavily on an excellent perception stack. The perception stack involves
observing and registering the 3D scene on the table, detecting what objects are
on the table, and how to manipulate them. Consequently, it greatly influences
the system's task-planning and motion-planning stacks that follow. We present a
comprehensive overview and discuss the different challenges associated with the
perception module. This work is a result of our extensive involvement in the
ICRA 2022 Open Cloud Robot Table Organization Challenge, in which we stood
third in the final rankings.
