Method and system for aligning three-dimensional surfaces

A method for associating a three-dimensional surface representing a real object and a three-dimensional reference surface, said reference surface being represented by a set of reference points, the method comprising: obtaining a set of real points representing the real surface, determining the normal vector of each point of said obtained set of real points, selecting, among the set of real points, control points according to the determined normal vector by converting the set of real points to a bi-dimensional space of normal vectors, generating sets of points having similar normal vector among the points of the set of real points and selecting, for each set of points with similar normal vector, one point that is a control point of the real surface, determining correspondence points close to the set of reference points that are determined to correspond to the control points of the real surface, and determining the motion that minimizes the distances between the control points of the real surface and the correspondence points.