Abstract: An image recognition method and system (10) comprises receiving at an input (12) a first image set to be recognized, wherein the image set comprises a 3-D image comprising 3-D cloud-points of an observed surface and a registered 2-D image comprising textured pixels. A gallery of image sets is provided in a storage (18) for comparison. A rejection classifier (32) performs a rejection comparison for rejecting image sets in the gallery that do not match the first image set with a high likelihood. A matching classifier (36) performs a matching comparison for identifying an image set of the non-rejected gallery image sets which matches the first image set with a high likelihood.