This paper presents an approach to recognition where an object is first {\\it aligned} with an image using a small number of pairs of model and image features, and then the aligned model is compared directly against the image. To demonstrate the method, we present some examples of recognizing flat rigid objects with arbitrary three-dimensional position, orientation, and scale, from a single two-scale-space segmentation of edge contours. The method is extended to the domain of non-flat objects as well.
