1. 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.