## Abstract

This report 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 indicate the
feasibility of this method. The best results are
4.7% and 1.5% (total distance error) for the polyhedral and smooth objects
respectively. The figures are quoted in terms of percentages of the maximum
allowable displacement. Experiments using real range data for the two smooth
objects yield good results, with total translation errors as low as 2.6%.