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Recent years have seen advances in the estimation of full 6 degree-of-freedom object pose from a single 2D image. These advances have often been presented as a result of, or together with, a new local image descriptor. This paper examines how the performance for such a system varies with choice of local descriptor. This is done by comparing the performance of a full 6 degree-of-freedom pose estimation system for fourteen types of local descriptors. The evaluation is done on a database withdoi:10.1109/robot.2009.5152360 dblp:conf/icra/VikstenFJM09 fatcat:ph7snjwuznhdvbou4rec77hmoy