In this paper, we propose a new scheme for omnidirectional object-recognition in free space. The proposed scheme divides above problem into several omnidirectional object-recognition with different depression angles. An omnidirectional object-recognition system with oblique observation directions based on a new recognition theory-Biomimetic Pattern Recognition (BPR) is discussed in detail. Based on it, we can get the size of training samples in the omnidirectional object-recognition system in free space. Omnidirectionally cognitive tests were done on various kinds of animal models of rather similar shapes. For the total 8400 tests, the correct recognition rate is 99.89%. The rejection rate is 0.11% and on the condition of zero. error rates. Experimental results are presented to show that the proposed approach outperforms three types of SVMs with either a three degree polynomial kernel or a radial basis function kernel.
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