Based on the principles described in Part I, we have implemented a working prototype vision system using a feature structure called an LSG (local surface group) for generating object hypotheses. In order to verify an object hypothesis, we estimate the view of the hypothesized model object and render the model object for the computed view. The object hypothesis is then verified by finding additional features in the scene that match those present in the rendered image. Experimental results on synthetic and real range images show the effectiveness of the indexing scheme.