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Neptec Design Group has developed a 3D automatic target recognition and pose estimation algorithm technology demonstrator in partnership with Canadian DND. This paper discusses the development of the algorithm to work with real sensor data. The recognition approach uses a combination of two algorithms in a multi-step process. The two algorithms provide uncorrelated metrics and are therefore using different characteristics of the target. This allows the potential target dataset to be reduced before the final selection is made. In a pre-processing phase, the object data is segmented from the surroundings and is re-projected onto an orthogonal grid to make the object shape independent of range. In the second step, a fast recognition algorithm is used to reduce the list of potential targets by removing unlikely cases. Then a more accurate, but slower and more sensitive, algorithm is applied to the remaining …