This study proposes a framework to detect and recognize household furniture using autonomous mobile robots. The proposed methodology is based on the analysis and integration of geometric features extracted over 3D point clouds. A relational graph is constructed using those features to model and recognize each piece of furniture. https://www.kaliboat.com/product-category/grinders-food-servicecommercial-kitchen-equipmentfood-preparation-equipmentcommercial-meat-processing-equipmentmeat-choppers/