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This paper presents a novel 3D object recognition method. The proposed objectives are to overcome shortcoming of the appearance-based method, which lacks a spatial relationship between the parts of an object, and those of other 3D model methods, which require complicated computation. The proposed method is based on a voting process. Appearance estimation is introduced in this work in order to deal with the faulty detection problem. We tested our method for object detection and pose estimation, and the results showed that our method improved the average precision and detection time compared to other methods.