Non-parametric method and system for estimating dimensions of objects of any shape

A non-parametric method and system for sizing an object having an arbitrary shape takes a three-dimensional (3D) point cloud of data points over a field of view that detects the object, and a base surface on which the object is positioned on a base plane the base surface indicating from the point cloud, extracts the data points of the object from the point cloud, processes the extracted data points of the object to obtain a convex hull, and adjusts a bounding box with a minimum volume of to include the convex hull. The bounding box includes a pair of mutually orthogonal planar end faces, and the adjustment is carried out by one of the end surface is oriented to be generally perpendicular to the base plane, and by simultaneously the other of said end face is oriented to generally parallel to the base plane to be.