1. A method for determining a pose of an object, comprising the steps of: comparing an input range image acquired of a scene including an input object to each of a plurality of reference range image of a reference object, such that each reference range images has an associated different pose, and the reference object is similar to the input object, wherein the comparing is performed on a per pixel basis; and selecting the associated pose of the reference range image which best matches the input range image as the pose of the input object in the scene, and wherein the comparing between the reference range image R and the input range image I uses an error function: ε ⁡ ( I , R , x , y , z ) = 1 N cover ⁢ ∑ u , v ⁢ ⁢ ε cover ⁡ ( u , v , x , y ) + λ ⁢ 1 N depth ⁢ ∑ u , v ⁢ ⁢ ε depth ⁡ ( u , v , x , y , z ) , where a cover error is ε cover (u, v, x, y), a range error is ε range (u, v, x, y, z), (u, v) are coordinated of pixels in the input range image, (x, y, z) are coordinates of pixels in the set the reference range images, λ a weight, and N cover and N range are normalization factors. wherein the steps are performed in a graphics processor unit.