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A novel method for pose normalization of 3-D mesh models was put forward based on rotation transformation. Via the theory of analytic geometry, this paper analyzed the rotation transformation of a plane, a projection transformation revolving about a basis vector, and developed the computational formula of rotation angle. We also achieved the computable rotation matrix for mesh models through further research integrating with computational graphics and probability theory. As a result, a mesh model with arbitrary position was transformed into normalized pose through rotation transformation. The experimental results show that this algorithm can calculate out the angle for rotation transformation and construct the rotation matrix to accomplish the pose estimation automatically.