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We introduce a new surface representation for recognizing curved objects. Our approach begins by representing an object by a discrete mesh of points built from range data or from a geometric model of the object The mesh is computed from the data by deforming a standard shaped mesh, for example, an ellipsoid, until it fits the surface of the object. We define local regularity constraints that the mesh must satisfy. We then define a canonical mapping between the mesh describing the object and adoi:10.1184/r1/6560666 fatcat:wszfc27x7jewzpoys3n2cevkby