3D vision becomes more and more important, especially for robotics. So far, the machine vision software Halcon by MVTec already provided many 3D technologies. MVTec Software will now showcase further 3D vision technologies of the recently published version 9.0. The descriptor-based matching is a revolutionary new matching technology. This method is able to find perspectively distorted objects. It is based on the detection of interest points where gray values are clearly differentiated from neighboring areas (brightness, curvature, corners, spots). The perspective, deformable matching is also able to match perspectively distorted objects. In contrast to descriptor-based matching, the perspective, deformable matching is edge-based and thus can best be used with objects with clearly distinguishable edges.