The invention provides a system and method for estimating the match degree of a 3D alignment pose of a run-time 3D point cloud with respect to a trained model 3D point cloud. The system and method comprise scoring of the candidate pose matching degree of the run-time 3D point cloud relative to a training model 3D point cloud, and visibility check including (a) receiving an optical center of a 3D camera; (b) receiving the training model 3D point cloud; (c) receiving the run-time 3D point cloud; and (d) constructing a plurality of line segments from the optical center to a plurality of 3D pointsof the 3D point cloud of the run-time candidate pose. The invention also provides a system and method for determining an exact representation of a 3D imaging object by removing spurious points from acomposite point cloud based on the presence or absence of spurious points in a given number of point clouds.
System and method for improved scoring of 3D poses and spurious point removal in 3D image data