<P>PROBLEM TO BE SOLVED: To provide a method and a system for detecting an object using a depth edge in an image acquired by an ordinary camera or multiflash camera and specifying a position and estimating a pose. <P>SOLUTION: A pose of an object in a scene is determined by rendering sets of virtual images of a model of the object using a virtual camera. Each set of the respective virtual images is for a different known pose of the model. A virtual depth edge map is generated from the respective virtual images and is stored in a database. The set of real images of the object at an unknown pose is acquired by a real camera and a real depth edge map is generated for each real image. The real depth edge maps are compared with the virtual depth edge maps using a cost function to determine the known pose that best matches the unknown pose, wherein the matching is based on locations and orientations of the pixels in the depth edge maps. <P>COPYRIGHT: (C)2011,JPO&INPIT 
METHOD FOR DETERMINING POSE OF OBJECT IN SCENE