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A general three dimensional image analysis environment is presented. The environment proved extremely flexible, and a three dimensional object recognition system was designed using this environment. The recognition system addresses all the issues associated with view independent object recognition. The particular concentration of this paper is the development of an active model matching approach called a procedural model The procedural model uses the surface geometry available in a range image to limit the amount of searching that must be done. The surface geometry is determined by solving an eigensystem, and utilized to determine the pose of the object.