1. A computer implemented method for recognizing an object, comprising an act of causing a computer having a processor to perform acts of: receiving an implicit geometry representation regarding a three-dimensional (3D) object of interest; centering a region of interest (ROI) on the implicit geometry representation such that there is at least one intersection area between the ROI and the implicit geometry representation; calculating object shape features that reflect a relationship of the ROI with respect to the implicit geometry representation; assembling the object shape features into a feature vector; generating a classification confidence value with respect to a particular object classification; and classifying the 3D object of interest as a particular object upon the classification confidence value reaching a predetermined threshold.