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Three-dimensional (3D) Model-Based Vision enables observed image features to be used to determine the pose (ie. position and attitude) of a known 3D object with respect to the camera (or alternatively, the viewpoint of the camera with respect to the model) [1]. The knowledge concerning the object that is used to perform Model-Based Vision is the 3D locations of salient and easily observed object features, such as corners and high-contrast edges (eg. surface marking sand crease edges).
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Harris et al. (1990) studied this question.