1. A method for real-time pose estimation of an object in a sample view, the method comprising the steps of: selecting, in an off-line environment, a set of stable feature regions of the object; incorporating, in an off-line environment, multiple view descriptors of a view set for each selected feature region into a statistical model; constraining a search area of the statistical model using geometric consistencies between the statistical model and the sample view; and searching the constrained search area to match regions in the statistical model with regions in the sample view.