Methods and systems for performing object directed recognition based on two-dimensional images and three-dimensional models. Transforms are used to map features of an object to an image seen from a vantage point and to map features of images best seen from the vantage points to three-dimensional models. Mapping of features and images to the three-dimensional model and then to image planes of other images in comparison of corresponding features from the mapped images to original images allows for determination of coherence between the mapped images and the original images.