For the past two decades, most computer vision research has been concerned with digitized gray scale intensity images as sensor data. Digitized intensity images do not, however, contain explicit information about depth or range. More recently, digitized range data from both active and passive sensors has been used for object recognition and image understanding. In this paper we present a 3-dimensional range data recognition scheme. This scheme is based on the association of a set of geometric features to a surface which approximates the surface of an unknown object. A key feature of this system is its efficient use of dense range data.
"Three-Dimensional Object Recognition Using Range Data", Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); doi: 10.1117/12.960317; https://doi.org/10.1117/12.960317