I voted a yes because I'm sure the question was mainly aimed at domestic types of pets, however, I own both a budgie and a corn snake rather than conventional pets and I am certain that both of them absolutely recognise me when I show up.
That isnt to say that they (or cats and dogs for that matter) have any emotional attachment to me, But I am certain that my budgie knows me by sight (he panics when strangers come in the room) and my snake knows exactly who I am by scent (He reacts very differently when handled by anyone but me)