1. A system for determining alignment of an object in three dimensional space (3D) comprising: one or more 3D sensors and one or more processing elements constructed and arranged to generate a 3D representation of a scene; a feature extraction process that generates a plurality of found 3D higher level geometric shapes (HLGS) of the scene from the 3D representation; and a correspondence process that compares the plurality of found 3D HLGS to a model 3D HLGS to generate one or more candidate 3D poses of one or more objects in the scene, the correspondence process being constructed and arranged to assign a score to each of the plurality of candidate 3D poses and select at least one of the plurality of candidate 3D poses having an assigned score greater than or equal to a predefined threshold.