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This paper describes a method to localize 3D objects, which is the extension of the segment-based object recognition method to use on a STL CAD model. Models for localization are automatically generated using contour generators, which are estimated by occluding contours of projected images of the CAD model from multiple viewing directions and depth images computed with a graphics accelerator. In addition, the model is dynamically updated in a recognition process according to the viewing direction. Localization process is based onmultiple hypotheses verification using the model and 3D boundaries reconstructed from stereo images. Experimental results show the effectiveness of the proposed method.