1. A system for object recognition in colorized point clouds, comprising one or more processors that include: an implicit geometry engine, the implicit geometry engine configured to receive three-dimensional (3D) colorized point cloud data regarding a 3D object of interest, to convert the point cloud data into implicit representations, and to generate geometric features; a geometric grammar block, the geometric grammar block configured to generate object cues and recognize geometric objects using geometric tokens and finite state machines; a visual attention cueing block, the visual attention cueing block configured to generate object cues based on two-dimensional (2D) visually salient properties; an object recognition block, the object recognition block being configured to perform a local search for objects using cues from the cueing block and the geometric grammar block and to classify the 3D object of interest as a particular object upon a classifier reaching a predetermined threshold.