The invention notably relates to a computer-implemented method for localizing a 3D modeled object in a 3D scene, the method comprising a positioning of the 3D modeled object in the 3D scene, the positioning being performed following an algorithm that rewards, for each of first couples made of two 3D points of the 3D modeled object and their respective associated normal vectors, a match with a respective second couple made of two 3D point of the 3D scene and its respective associated normal vectors, the first couple being positioned substantially on the second couple, the match between the first couple and the second couple amounting to a substantial integer equality between the value of a quantized descriptor for the first couple and the value of the quantized descriptor for the second couple. This improves the localizing a 3D modeled object in a 3D scene.