Abstract: A processor is operably coupled to a time of flight (TOF) camera, a light detection and ranging (LIDAR) sensor, and an optical camera. The processor can receive a TOF signal representative of a first coordinate associated with a stick-up height of a tool joint of a pipe of a drill string during a tripping operation on a rig drill floor, and a pitch and a roll of the tool joint. The processor can receive a LIDAR signal representative of a second coordinate associated with the stick-up height, and the pitch of the tool joint. The processor can receive an optical camera signal representative of a third coordinate associated with the stick-up height of the tool joint and the roll of the tool joint. The processor can generate a pose estimate and an orientation estimate based on the signals.