“…In literature the term 'shape' often refers to the geometry of an object's physical surface [16]. Existing methods of shape analysis are mostly concerned with shape recognition [84], [85] [86], [87], [88,89], [90], [91], [92], [93] [94]. Visual systems applying shape as their knowledge are called model-based object recognition systems and have been used extensively by vision researchers [70], [95], [96], [97].…”