Abstract: A method for measuring and analysing packages particularly for optimising storage in a warehouse or for packing for transporting. The method follows the steps of placing packages on a floor surface moving a robot to adjacent one of the packages. Lidar or similar is used to measuring distance data from the robot to the package at a multiple heights from at least 0.5 m above the floor surface. The robot then follows a path around all or part of the packages gathering further distance data as it travels. The distance data is then used to determine or infer the shape of the sides of the package and from their estimate volumetric dimensions of the package. The volumetric dimensions are then used to optimise storage of the package with other packages.