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.roneverhart.com/Prudence-Sacred-Armor-Eth-Bugged-170-ED-25-34-Res-West-Non-Ladder/