  We present a novel method to track 3D models in color and depth data. To this
end, we introduce approximations that accelerate the state-of-the-art in
region-based tracking by an order of magnitude while retaining similar
accuracy. Furthermore, we show how the method can be made more robust in the
presence of depth data and consequently formulate a new joint contour and ICP
tracking energy. We present better results than the state-of-the-art while
being much faster then most other methods and achieving all of the above on a
single CPU core.
