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The TOPS2 descriptor embodies object unity, a human cognition mechanism, by retaining the slicing\u2010based topological representation of 3D shape from the TOPS descriptor (IEEE Trans. Robot. 2024, <jats:italic>40<\/jats:italic>, 886) while capturing object color information through slicing\u2010based color embeddings computed using a network of coarse color regions. These color regions, analogous to the MacAdam ellipses identified in human color perception, are obtained using the Mapper algorithm, a topological soft\u2010clustering technique. THOR2, trained using synthetic data, demonstrates markedly improved recognition accuracy compared to THOR, its 3D shape\u2010based predecessor, on two benchmark real\u2010world datasets: the OCID dataset capturing cluttered scenes from different viewpoints and the UW\u2010IS Occluded dataset reflecting different environmental conditions and degrees of object occlusion recorded using commodity hardware. THOR2 also outperforms baseline deep learning networks and a widely used Vision Transformer adapted for RGB\u2010D inputs trained using synthetic and limited real\u2010world data on both the datasets. Therefore, THOR2 is a promising step toward achieving robust recognition in low\u2010cost robots.<\/jats:p>","DOI":"10.1002\/aisy.202400539","type":"journal-article","created":{"date-parts":[[2024,12,12]],"date-time":"2024-12-12T00:59:24Z","timestamp":1733965164000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["THOR2: Topological Analysis for 3D Shape and Color\u2010Based Human\u2010Inspired Object Recognition in Unseen Environments"],"prefix":"10.1002","volume":"7","author":[{"given":"Ekta U.","family":"Samani","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering University of Washington  Seattle WA 98195 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5898-7563","authenticated-orcid":false,"given":"Ashis G.","family":"Banerjee","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering University of Washington  Seattle WA 98195 USA"},{"name":"Department of Industrial and Systems Engineering University of Washington  Seattle WA 98195 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,12,11]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3343994"},{"key":"e_1_2_11_3_1","volume-title":"Sensation and Perception","author":"Goldstein E. 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