H takes property belonging to S out of the possession of S in good faith, believing at the time when he takes it, that the property belongs to himself. Later on realizing his mistake, H continues to appropriate the property to his own use H has committed the offence of

This scenario describes criminal misappropriation under Section 403 IPC. H initially took property in good faith (no mens rea then), but continued appropriating it after realizing the mistake. This 'continuing appropriation' after knowledge makes it misappropriation. Criminal breach of trust requires entrustment (Section 405), robbery requires force/threat (Section 390), and cheating requires deception (Section 415).