1. A method of generating reference features sets on the basis of a reference image of an object, said reference features sets for use in an image processing function configured to recognize the object and/or estimate pose information of the object from an image frame obtained from a digital imaging device by matching extracted features of the image frame with the reference features sets, the method comprising: extracting a first reference features set from the reference image; obtaining a first slice of the reference image, wherein the first slice is a first portion of the reference image; and extracting a second reference features set on the basis of the first slice.