A method for determining a position of an object moving along a conveyor belt. The method includes measuring the position of the conveyor belt while the conveyor belt is moving using a motor encoder and providing a measured position signal of the position of the object based on the measured position of the conveyor belt. The method also includes determining that the conveyor belt has stopped, providing a CAD model of the object and generating a point cloud representation of the object using a 3D vision system. The method then matches the model and the point cloud to determine the position of the object, provides a model position signal of the position of the object based on the matched model and point cloud, and uses the model position signal to correct an error in the measured position signal that occurs as a result of the conveyor belt being stopped.