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Using transform invariant 3D features obtained from a database of 3D range images, geometric hashing is applied for the purpose of 3D object recognition. Mean (H) and Gaussian (K) curvature values within a scale-space of the surface is used. Since H and K values are used and a scale-space of the surface is constructed the method is independent of transformation and resolution. The method is tested on the Stuttgart 3D range image database.