Voting-Based Pose Estimation for 3D Sensors

A method for estimating a pose of an object, comprising the steps of:

• defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments;
• determining model pair features based on the set of pair features for a model of the object;
• determining scene pair features based on the set of pair features from data acquired by a 3D sensor;
• and
• matching the model pair features with the scene pair features to estimate the pose of the object, wherein the steps are performed in a processor.