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 binary mask of the input image; extracting a set of singlets from the binary mask of the input image, each singlet representing points in an inner and outer contour of the object in the input image; connecting the set of singlets into a mesh represented as a duplex matrix; comparing two duplex matrices to produce a set of candidate poses; and producing an object pose estimate, and storing the object pose estimate.