The method of comparing a 3D object model with a 2D image based on invariant moments

The solution of the comparison problem comes down to that of optimizing the orientation of the 3D object model in order to achieve maximum matching of its projection to the presented image. The closeness measure is the Euclidean distance between invariant moments of the compared 2D images. In the presented formulation, the projection of the 3D model is a grayscale image and the brightness of the pixel is determined by the distance to the viewing plane. (In Russian).