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This paper describes an approach to the recognition of stacked objects with planar and curved surfaces. The system works in two phases. In the learning phase, a scene containing a single object is shown one at a time. The range data of a scene are obtained by a range finder. The description of each scene is built in terms of properties of regions and relations between them. This description is stored as an object model. In the recognition phase, an unknown scene is described in the same way as in the learning phase. Then the description is matched to the object models so that the stacked objects are recognized sequentially. Efficient matching is achieved by a combination of data-driven and model-driven search processes. Experimental results for blocks and machine parts are shown.