PROBLEM TO BE SOLVED: To provide a method and apparatus of determining in a three-dimensional operating space a measure of super-imposition M between an object and a spatial representation of the object or part thereof (hereinafter called the object) in a pose comprising position and orientation in operating space (hereinafter called the object representation pose).
SOLUTION: The method includes: (a) obtaining a similarity measure S between a first imaging data taken in first respective imaging poses of the object and second imaging data comparable to the first imaging data taken in second respective imaging poses that are digitally reconstructed from the spatial representation of the object in the object representation pose; (b) locating in operating space at least one point on the surface of the object; (c) obtaining a distance measure D between the at least one point in operating space and a surface of the spatial representation in the object representation pose; and (d) obtaining a measure of superimposition M by a combination of the similarity measure S and the distance measure D.
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