A novel global shape description technique based on edge segments is applied for recognition of 3-D objects. This approach extends the boundary-based representation to generalized edge patterns that may have segments that are straight, curved, crossing, or open. A novel representation of edge moments is used for shape description, with a novel normalization. The invariant features may be formed by using standard (invariant) moments. This has led to the development of edge standard moments. The power of the method is demonstrated for the recognition of 3-D polyhedral objects.