A computer-implemented method for providing one or more descriptors of a 3D geometry, the method comprising: determining a first key point in the 3D geometry; selecting a plurality of points in a vicinity of the first key point; computing a normal of the first key point and a normal of each point of a plurality of points; computing an angle of each normal of the plurality of points with respect to the normal of the first key point; providing a first matrix comprising the angles computed; applying a Trace Transform to the first matrix thereby providing a second matrix; and applying an FFT to the second matrix thereby providing a descriptor.