“…The adequate implementation of robotic manipulation tasks necessitates the accurate estimation of the 6 DoF pose of the testing object (Kouskouridas, Amanatiadis, & Gasteratos, 2011;Kouskouridas, Charalampous, & Gasteratos, 2014;Popovic et al, 2010;Sansoni et al, 2014). The simplicity along with facile training sessions render template matching methods as one of the most widely used solutions for object detection tasks (Ferrari, Tuytelaars, & Van Gool, 2006;Hinterstoisser et al, 2011;Ma, Chung, & Burdick, 2011;Rios-Cabrera & Tuytelaars, 2013;Tejani et al, 2014).…”