1. A method of identifying an object, comprising the steps of: a) storing geometric information about a plurality of candidate objects; b) imaging a target object to be identified with a camera; c) rendering stored geometric information to a simulated image utilizing pose and environment information; d) comparing the image of the target object to the stored geometric information; e) rotating and moving the image of the target object in three-dimensional space; f) repeating steps c), d) and e) to determine the best match or matches between the target object and the candidate objects.