1. A method of object recognition using three-dimensional information, said method comprising the steps of: determining, using a set of three-dimensional information, one of: two or more first n-tangents, where n is greater than or equal to 2, and wherein an n-tangent is a line or plane generally tangent to a surface described by the three dimensional information in a vicinity of at least n points; and one or more first n-tangents, where n is greater than or equal to 3; receiving a second set of data; determining, using said second set of data, one of: two or more second n-tangents, where n is greater than or equal to 2; and one or more second n-tangents, where n is greater than or equal to 3; registering said set of three-dimensional information and said second set of data to a common coordinate system using said first n-tangents and said second n-tangents; determining a measure of discrepancy between said set of three-dimensional information and said second set of data; and merging said second set of data with said set of three-dimensional information to generate one or more of: a more complete three-dimensional information; and a more complete second set of data; when said measure of discrepancy is less than a pre-defined magnitude.