  The Point Pair Feature (Drost et al. 2010) has been one of the most
successful 6D pose estimation method among model-based approaches as an
efficient, integrated and compromise alternative to the traditional local and
global pipelines. During the last years, several variations of the algorithm
have been proposed. Among these extensions, the solution introduced by
Hinterstoisser et al. (2016) is a major contribution. This work presents a
variation of this PPF method applied to the SIXD Challenge datasets presented
at the 3rd International Workshop on Recovering 6D Object Pose held at the ICCV
2017. We report an average recall of 0.77 for all datasets and overall recall
of 0.82, 0.67, 0.85, 0.37, 0.97 and 0.96 for hinterstoisser, tless, tudlight,
rutgers, tejani and doumanoglou datasets, respectively.
