Techniques are described for determining the pose of an object based on a 3D point set representing the object. In one aspect, the invention relates to improved epoxy functional surfactants prepared by reaction of an epoxy composition and an amidoamine composition formed from a blend of acid-terminated polyoxyalkylene polyols. The plurality of partial products are then summed or accumulated to produce fixed point vector dot product data. The reflecting surface is configured to reflect light generated by the second source of uniform light towards the first source of uniform light such that when a master key is disposed in the housing, the first source of uniform light generates a profile image of the master key and the second source of uniform light illuminates a surface of the master key.