We are building a system that can rapidly determine the pose of a known object in an unknown view using a view class model of the object. The system inputs a three-dimensional CAD model; converts it to a three-dimensional vision model that contains the surfaces, edges, vertices, and topology of the object; and uses the vision model to determine the view classes or representative views of the object. In this paper we define therelational pyramid structure for describing the features in a particular view or view class of an object and thesummary structure that is used to summarize the relational information in the relational pyramid. We then describe an accumulator-based method for rapidly determining the view class(es) that best match an unknown view of an object.