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...etric information of a local surface from a set of viewpoints. Note that, some existing view-based methods can be found in the literature, such as (Yamauchi et al., 2006), (Ohbuchi et al., 2008) and (=-=Atmosukarto and Shapiro, 2010-=-). However, these methods are based on global features and originate from the 3D shape retrieval area. They are, however, not suitable for 3D object recognition due to their sensitivity to occlusion a...