In ARKit, Can I select any real world object to bind virtual objects with it, using depth map or other techniques?

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I am wondering how to implement this in ARKit: I have a bottle on the table and I want to add a "small hat" on it, by circling the aimed object like I did with red pen in the pic. enter image description here

Also, if the bottle is partly hidded, it can also be selected. Can I implement this bound between any real object and virtual objects in ARKit? Maybe using depth map or sth. enter image description here

Thanks a lot!

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