A three-dimensional object recognition system using solid modeling technology is presented. Instead of identification directly by computer, object models are first established with CAD solid-modeling representation schemes using four primitives. After a series of image processing steps, the contour of the object to be recognized is obtained and then matched with those produced from the models. Following contour extraction, the object is recognized by searching and decision rules. In addition, object orientation is also obtained as a by-product of the shape analysis. The vision system is realized on an IBM PC using 8088 assembly language.