Abstract: A method for measuring respiratory parameters of a subject using a range imaging sensor, wherein the method includes: receiving from the range imaging sensor at least one raw image of at least one portion of the torso of the subject, wherein each point of the raw image represents the distance between the range imaging sensor and the subject; generating a surface image of at least one portion of a surface of the torso of the subject by surface interpolation of the raw image; estimating a respiratory signal as a function of time calculated as the spatial average, in a given region of interest (ROI) defined on the torso of the subject, of the differences between the depth values of the surface image at a given time and the depth values of a reference surface image; and estimating a lung volume.