This paper presents a novel framework for partial matching and retrieval of 3-D models based on a query-by-range-image approach. Initially, salient features are extracted for both the query range image and the 3-D target model. The concept behind the proposed algorithm is that, for a 3-D object and a corresponding query range image, there should be a virtual camera with such intrinsic and extrinsic parameters that would generate an optimum range image, in terms of minimizing an error function that takes into account the salient features of the objects, when compared to other parameter sets or other target 3-D models. In the context of the developed framework, a novel method is also proposed to hierarchically search in the parameter space for the optimum solution. Experimental results illustrate the efficiency of the proposed approach even in the presence of noise or occlusion.