1. A method for estimating a pose of an object from an input image and storing an object pose estimation, comprising: inputting an image containing an object; creating a first binary mask of the input image; extracting a set of singlets from the first binary mask of the input image, each singlet representing points of maximum curvature within a contour-tracing window along an inner contour and along an outer contour of the object in the input image; producing a duplex matrix including: defining a matrix D with its elements, i.e. (i,j), containing the distance between the i-th and the j-th singlets, modifying matrix D by removing any matrix D elements whose distance is not within a predefined minimum value and a maximum value, identifying all singlets s1 coupled to more than a predefined number of other singlets as determined from the modified matrix D, producing a reduced matrix D by removing from the modified matrix D all elements along row s1 and column s1, and for each remaining element within the reduced matrix D calculating multiple angle measures of the two singlets defined by the remaining element, each element of the duplex matrix including said multiple angle measures and the distance between their two corresponding singlets; comparing the produced duplex matrix to a reference duplex matrix to produce a set of candidate poses; and producing an object pose estimate, and storing the object pose estimate.