I. Introduction
Summarizing the object recognition task that asks “what is the object in the image?” actually we mean that “does it corresponds to any model that we know?” If not, the object is new to our database. Otherwise, it is recognized as an existing object. For human beings, the database corresponds to the memory in our brain. But for a robot, there is usually no prior knowledge of the objects for recognition. Thus, it is mandatory to establish the object models prior to the recognition tasks.