A novel method of 3D object recognition independent of lighting conditions is presented. The recognition model is based on a vector space representation using an orthonormal basis generated by the Lambertian reflectance functions obtained with distant light sources. Changing the lighting conditions corresponds to multiplying the elementary images by a constant factor and because of that, all possible lighting views will be elements that belong to that vector space. The recognition method

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... d is based on the calculation of the angle between the vector associated with a certain illuminated 3D object and that subspace. We define the angle in terms of linear correlations to get shift and illumination-invariant detection.