In one exemplary embodiment of the present invention, a method of detecting a desired object at a candidate pixel from an image is provided. The method includes the steps of (a) selecting a representative point in the desired object; (b) determining first representative cross-sections of the desired object by passing first lower dimension planes through the representative point; (c) passing at least one second lower dimension plane through the candidate pixel; (d) using region segmentation to separate the candidate pixel containing second regions from the rest of the pixels in each of the at least one second lower dimension plane; (e) matching at least one of the second regions with at least one of the first cross-sections; (f) determining a match value based on the result of step (e); and (g) using the match value to determine if the desired object is detected at the candidate pixel.