A novel idea for perception of object surfaces is presented by so called "shape descriptors." Such idea is as an abstract level to represent the object surface by some real numbers. It has the similar idea like as the Fourier coefficients of mapping a function f(x) to frequency domain by Fourier transform. The main goal of this thesis is to define some of the key issues in understanding of an object shape and also to find a modeling methodology to create the "shape descriptors." The modeling methodology is designed based on a variational interpolation technique. Such technique is used to...