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This paper introduces a fast and efficient indexing approach for both 2D & 3D model-based object recognition in the presence of rotation, translation, and scale variations of objects. The indexing entries are computed after preprocessing the data by Haar wavelet decomposition. The scheme is based on a unified image feature detection approach based on Zemike moments. A set of low level features, e.g. high precision edges, gray level corners, are estimated by a set of orthogonal Zemike moments, calculated locally around every image point. A high dimensional, highly descriptive indexing entries are then calculated based on the correlation of these local features and employed for fast access to the model database to generate hypotheses. A list of the most candidate models is then presented by evaluating the hypotheses. Experimental results are included to demonstrate the effectiveness of the proposed indexing approach.