# A Method for 6D Pose Estimation of Free-Form Rigid Objects Using Point Pair Features on Range Data

> Research article (Sensors, 2018) · cited 86× · AI/ML

**Wikidata**: [openalex:W2887599887](https://www.wikidata.org/wiki/openalex:W2887599887)  
**Source**: https://4ort.xyz/entity/a-method-for-6d-pose-estimation-of-free-form-rigid-objects-using-point-pair-features-on-range-data