This paper proposes a method to measure the two-dimensional pose of an object by using a voting process based on geometrical parameters of selected future pixels. The proposed method can measure a location and an inclination of an object even if the object has a free two-dimensional pose in an image. In the template registration process, the geometrical parameters of plural selected future pixels are registered into the template table. In the matching process, a target image area with a similar figure to a template image is searched by using the geometrical parameters of the future pixels. The experimental results show that the poses of objects with free locations and inclinations were recognized successfully by the proposed method with high speed matching in comparison with the conventional methods.