This paper presents a new concept for 3D coding of free-form surfaces. The proposed coding technique uses the surface signature representation scheme [1]. This representation scheme captures the 3-D curvature information of any free-form surface and encodes it into a 2-D image corresponding to a certain point on the surface. This image is unique for this point and is independent of the object translation or orientation in space. For this reason this image is called “Surface Point Signature” (SPS). Using SPS in 3D coding has many applications in 3D compression, 3D pose estimation and in 3D object recognition.