This article presents a 2D-3D pose estimation algorithm which relies on texture information on the surface mesh of an object model. The textured surface mesh is rendered in a virtual image and a modified block matching algorithm is applied to determine correspondences between midpoints of surface patches to points in an image. This is used in a point-based 2D-3D pose estimation algorithm to determine the pose and orientation of a 3D object with respect to given image data. We present experiments on various image sequences and show advantages of the chosen approach (e.g., in the context of varying backgrounds, noise or partial occlusions).