Robotic devices are progressively being incorporated into our everyday lives. Advanced robot technology has been making its move from the dull, stationary regime of production plants and industries to consumer stores, and finally into our own homes. From automatic window shades to motor- ized vacuum cleaning units, these technologies are constantly being intro- duced to make our everyday lives easier. Many still live unaware of how deeply we have been submerged into a world of automatic systems which help us perform everyday tasks, starting by the simplest ones. Moreover, as technology advances, more complex systems are being incorporated in- to our daily lives. Current world-wide research focuses on how to intro- duce dynamic and mobile elements to perform “household chores”, chores that require dexterous manipulation and advanced sensing and reasoning. This is a huge objective that implies great improvement and advances in current robotic technologies related to 24 hour availability, safety, and user satisfaction. As a consequence, there is an imminent need to develop per- ception mechanisms that offer a sufficient degree of reliability for the end- user. These mechanisms may be based on visual, tactile, or other types of sensed information. Additionally, they must be integrated within fully functional robotic systems that comply with the user’s needs. A perception mechanism based on camera vision has been developed for the ASIBOT assistive robot. Recognition and identification is performed through color segmentation, whereas localization is achieved using non-linear interpolations on data based on predefined look-up tables. The entire system has been implemented and is being tested on the ASIBOT-based Domestic Aided Kitchen test-bed.