Abstract: The present invention relates to a method for deriving a 3D data from image data comprising: receiving, from at least one camera, image data representing an environment; detecting, from the image data, at least one object within the environment; classifying the at least one detected object, wherein the method comprises, for each classified object of the classified at least one objects: determining a 2D skeleton of the classified object by implementing a neural network to identify features of the classified object in the image data corresponding to the classified object; and constructing a 3D skeleton for the classified object, comprising mapping the determined 2D skeleton to 3D.