Abstract: The present application relates to a method for recognising at least one object in a three-dimensional scene, the method including, in an electronic processing device: determining a plurality of two-dimensional images of the scene, the images at least partially including the at least one object; determining a plurality of two-dimensional segmentations of the at least one object, the two-dimensional segmentations corresponding to the two dimensional images; generating a three-dimensional representation of the scene using the images; generating a mapping indicative of a correspondence between the images and the representation; and using the mapping to map the plurality of segmentations to the three dimensional representation, to thereby recognise the at least one object in the scene.