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In this chapter, we discuss the problem of 3D shape matching. Recent advancements in shape acquisition technology has led to the capture of large amounts of 3D data. Existing real-time multi-camera 3D acquisition methods provide a framewise reliable visual-hull or mesh representations for real 3D animation sequences [1, 2, 3, 4, 5, 6]. The task of 3D shape analysis involves tracking, recognition, registration, etc. Analyzing 3D data in a single framework is still a challenging task considering the large variability of the data gathered with different acquisition devices. 3D shape registration is one such challenging shape analysis task. The major difficulties in shape registration arise due to:(1) variation in the shape acquisition techniques,(2) local deformations in nonrigid shapes,(3) large acquisition discrepancies (eg, holes, topology change, surface acquisition noise),(4) local scale change.