A system may include a scanning device to scan a plurality of objects in a controlled environment and in multiple orientations, a scan calibrator to perform calibration of the scanning by the scanning device, and a database configurator. The database configurator may be configured to determine multi-dimensional invariant orientations and geometric properties of features of the scanned objects to generate subsets of objects from the plurality of objects that are unique to the subset of objects, determine correlations between the determined multi-dimensional invariant orientation and the geometric properties of the features, generate group identifiers for each of the subsets of objects, perform supervised training on the determined multi-dimensional invariant orientations and geometric properties to generate trained parameters for each of the subsets of objects, and generate an object database based on the group identifiers and the trained parameters.