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I'd also suggest to have a look at VFH-based matching: http://pointclouds.org/documentation/tutorials/vfh_recognition.php#vfh-recognition

I'd also suggest to have a look at VFH-based matching: ~~http://pointclouds.org/documentation/tutorials/vfh_recognition.php#vfh-recognition~~http://pointclouds.org/documentation/tutorials/vfh_recognition.php#vfh-recognition We at TUM are rather happy with it.

For the textured objects Willow's TOD seems to be very promising (though I am still evaluating it): http://ecto.willowgarage.com/recognition

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