1. A computer-implemented method for recognizing objects and for automatic acquisition of models of objects, comprising the steps of: (1) acquiring a model of an object, comprising, (a) digitizing said object to generate a digitized image; (b) detecting local shapes in said digitized image; (c) grouping three or more noncontinuous noncontiguous combinations of said local shapes to generate a first index; (d) generating an entry for each group of local shapes consisting of a name of said digitized image, and information about the translation, rotation, and scale of said digitized image; and (e) storing said entry in a shape table at said first index; and (2) recognizing a target object that appears in a physical scene, comprising, (a) digitizing said target object to generate a digitized target image; (b) detecting global local shapes in said digitized target image; (c) grouping three or more noncontinuous noncontiguous combinations of said global local shapes to generate a second index; (d) accessing said shape table and retrieving entries from said shape table that correspond to said second index; (e) collecting said retrieved entries from said shape table into a vote table; and (f) selecting said retrieved entry with a highest vote in order to recognize said target image.