The present invention relates to a volume recognition method comprising the steps of: a) capturing three-dimensional image data using a 3D imaging system 3, wherein said image data represent a plurality of points 5, each point 5 having at least a set of coordinates in a three-dimensional space; b) grouping at least some of the points 5 in a set of clusters 6; c) selecting, according to a first set of parameters such as position and size, a cluster 6 corresponding to an object of interest 1 located in range of said imaging system 3; d) grouping at least some of the points 5 of the selected cluster 6 in a set of sub-clusters according to a second set of parameters comprising their positions in the three-dimensional space, wherein each sub-cluster has a centroid 11 in the three-dimensional space; and e) associating a volume 12 to each of at least some of said sub-clusters, wherein said volume 12 is fixed to the centroid 11 of said sub-cluster. The present invention also relates to a volume recognition system for carrying out this method.