Abstract: A sensor system that obtains and processes time-of-flight data (TOF) obtained in an arbitrary orientation is provided. A TOF sensor obtains distance data describing various surfaces. A processor identifies a horizontal Z-plane in the environment, and transforms the data to align with the Z-plane. In some embodiments, the environment includes a box, and the processor identifies a bottom and a top of the box in the transformed data. The processor can further determine dimensions of the box, e.g., the height between the top and bottom of the box, and the length and width of the box top.