“…In recent years, there has been a growing interest in 3D object recognition research. Not only it is interesting and challenging in theory, but also it can be applied to solving many realistic problems in industrial parts inspection, military target recognition, CAM/CAD engineering design, scienti c experiments, and document image analysis 5,11,18,22,33,41]. However, up-to-date, most research focused on rigid objects only, with large learning sample size, low speed, and can not distinguish similar patterns 2,25].…”