The friction ridge pattern is a 3D structure which, in its natural state, is not deformed by contact with a surface''. Building upon this rather trivial observation, the present work constitutes a first solid step towards a paradigm shift in fingerprint recognition from its very foundations. We explore and evaluate the feasibility to move from current technology operating on 2D images of elastically deformed impressions of the ridge pattern, to a new generation of systems based on full-3D models of the natural nondeformed ridge pattern itself. There are already a small number of previous studies that have already started scratching the surface of 3D fingerprint recognition and that should not go overlooked. However, the vast majority of these few successful approaches published so far, are based on the reconstruction of fingerprints from multiple 2D images acquired with different lighting conditions (photometric stereo 3D reconstruction) or acquired from different angles (stereo vision 3D reconstruction). Such reconstruction methods lead in general to 2D fingerprints wrapped over the overall volume of the finger. These volumetric fingerprints have shown some promising performance, but still miss the real depth information of the ridge pattern, which, in the best case scenario, is coarsely estimated during the error-prone reconstruction process. In the present work we take one step further, directly acquiring for the first time in a consistent and repeatable manner, full-3D fingerprint models stored as point-clouds, where each point is defined by its [x, y, z] coordinates. This way, the 3D data is directly measured by the sensor, with no post-processing reconstruction stage required. The complete recognition system developed represents as well an alternative to traditional technology based on minutiae detection. It shows that image-based processing algorithms and descriptors can be successfully applied to the new full-3D data, reaching very competitive results and confirming the high distinctiveness of the models.INDEX TERMS 3D data processing, fingerprint recognition, laser sensing.