  This paper presents a method of capturing objects appearances from its
environment and it also describes how to recognize unknown appearances creating
an eigenspace. This representation and recognition can be done automatically
taking objects various appearances by using robotic vision from a defined
environment. This technique also allows extracting objects from some sort of
complicated scenes. In this case, some of object appearances are taken with
defined occlusions and eigenspaces are created by accepting both of
non-occluded and occluded appearances together. Eigenspace is constructed
successfully every times when a new object appears, and various appearances
accumulated gradually. A sequence of appearances is generated from its
accumulated shapes, which is used for recognition of the unknown objects
appearances. Various objects environments are shown in the experiment to
capture objects appearances and experimental results show effectiveness of the
proposed approach.
