The thesis deals with matchings of two 3D-surfaces by the use of special points, the so-called Voronoi poles. Given two objects, which represent the whole real object or just partial overlapping parts, these shall be transformed into a common coordinate system and may be merged then. The correspondences between both objects, that are needed for the transformation, are not set up in spatial space, but in a translation and rotation invariant feature space, to prevent from assuming any initial arrangement. Within the scope of the dissertation an application was implemented, that can check the facts prototypically.