Object recognition in the field of computer vision is a constant challenge to achieve better precision in less time. In this research, is proposed a new 3D descriptor, to work with depth cameras called CPPFL, based on the PPF descriptor from [1]. This proposed descriptor takes advantage of color information and groups it more effectively and lightly than the CPPF descriptor from [2], which uses the color information too. Also, it is proposed as an alternative descriptor called CPPFL+, which differs in the construction taking advantage of the same concept of grouping colors, so it gains a “plus” in speed. This change makes the descriptor more efficient compared to PPF and CPPF descriptors. Optimizing the object recognition process [3], it can reach a rate of ten frames per second or more depending on the size of the object. The proposed descriptor is more tolerant to illuminations changes since the hue of a color is more relevant than the other components.