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This paper focuses a comparative evaluation of our framework for 3D face recognition and state-of-theart systems. Our method uses a Simulated Annealing-based approach (SA) for range image registration with the surface interpenetration measure (SIM) as the similarity measure, in order to match two face images. The authentication score is obtained by combining the SIM values corresponding to the matching of four different face regions. Experiments were performed on the FRGC v2 database simulating both verification and identification systems and the obtained results were compared to those reported in the literature. By using all the images in the database, a verification rate of 95.9% was achieved, at a False Acceptance Rate (FAR) of 0.1%. In the identification scenario, a rank-one accuracy of 99.5% was obtained. To our knowledge, this is the best rank-one score obtained on the FRGC v2 database, as compared to previously published results.