## Abstract

This paper describes a new method based on the Extended Gaussian Image (EGI)
which can be used to determine the pose of a 3-D object. In this scheme, the
weight associated with each outward surface normal is a complex weight. The
normal distance of the surface from the predefined origin is encoded as the
*phase* of the weight while the magnitude of the weight is the visible
area of the surface. This approach decouples the orientation and translation
determination into two distinct least-squares problems. Experiments involving
synthetic data of two polyhedral and two smooth objects as well as real range
data of the same smooth objects indicate the feasibility of this method.