1. A machine method for recognizing or identifying a three-dimensional object from a two-dimensional image of the object, using a Hough space representation of said image comprising clusters each represented by its center point, comprising the steps of: (a) determining in the Hough space representation of said object image, cluster configurations having specific properties; (b) providing predetermined cluster configurations of Hough space representations which correspond to known object models identifying vertex points in three-dimensional space; (c) relating cluster configurations determined in step (a) to said predetermined cluster configurations of Hough space representations, in order to identify said object by comparison of the vertex points of said object image represented by cluster configurations determined in step (a) to corresponding vertex points of said object model representations; and (d) if further information is required for identification, fitting vertex points of the object image, the locations of which are given by the slope and intercept of respective cluster point colinearities in Hough space representation, to vertex points of at least one object model, on the basis of the relations determined in step (b).