In computer vision, 3D object recognition involves recognizing and determining 3D information, such as the pose, volume, or shape, of user-chosen 3D objects in a photograph or range scan. Typically, an example of the object to be recognized is presented to a vision system in a controlled environment, and then for an arbitrary input such as a video stream, the system locates the previously presented object. This can be done either off-line, or in real-time. The algorithms for solving this problem are specialized for locating a single pre-identified object, and can be contrasted with algorithms which operate on general classes of objects, such as face recognition systems or 3D generic object recognition. Due to the low cost and ease of acquiring photographs, a significant amount of research