In this paper, we propose the cross-section processing method which is simple in describing the SHGC of objects in a range image and which can describe the SHGC of occluded objects for the recognition of 3D objects. This method produces the cross-sections of an object along the assumed axis of the SHGC and describes the SHGC of the object by processing the produced cross-sections of the object using $psi$ -S curves with invariant properties in position and size. Our method is simple in a process and can descirbe the SHGC of partially occluded objects because it uses range images with 3-D informations of objects without matching contours of objects with a model base. Thus it is a useful description method of a range image for the recognition of 3D objects shaped in SHGC form and we proved the usefulness of it in experiments.