A new method for recognition of previously learned Convex Polyhedra, a sub-class of solid objects, has been investigated. The advantage of this method which is based on 3-D coordinate imaging is its low computational complexity and cost. This is due to the fact that it involves no iteration and more important, the recognition procedure is independent of the object orientation in three dimensional space. The comparison of the object under test with a previously learned Polyhedral object is performed on the basis of recognizing the angular relations of their adjacent faces. This requires the faces of the scanned object to be determined and isolated from each other a priori. Once the recognition succeeds the rotation and translation of the object can be evaluated.