Abstract: A range imaging sensor for classifying and determining the position and orientation of remote objects combines a high resolution three-dimensional range imaging camera with a conventionally configured data processor. Three-dimensional object geometry sensed by the camera is compared with a plurality of three-dimensional models stored in a memory of the data processor. The spacial relationship between iteratively selected models and the sensed object is evaluated for varying positions and orientations of the model, and an optimum object classification and object position/orientation are detected and transmitted as an output signal.