1. A method for real-time pose estimation of an object in a sample view, the method comprising the steps of: in an off line computer: using a 3D computer model of the object and a plurality of calibrated real images containing views of the object, rendering a plurality of calibrated synthesized images containing views of the object; extracting a plurality of feature regions from the real and synthesized images; identifying model regions of the 3D computer model represented by the extracted feature regions, by establishing a correspondence between the 3D computer model and the calibrated real and synthesized images; for each identified model region of the 3D computer model, building a view set of viewpoints from which the model region is extractable; and filtering and ranking the model regions based at least in part on the view sets of the model regions to create a hierarchical list of model regions; receiving a sample view of the object; extracting a set of sample feature regions from the sample view; and matching sample feature regions with model regions of the object using the hierarchical list of model regions.