The invention relates to a method for determining a type and a state of an object of interest, comprising: generating a depth map (1) of a scene (SC) by means of a depth sensor (2), the scene (SC) containing the object of interest (3) and an occlusion object (4) lying between the depth sensor (2) and the object of interest (3); computing three 2D occupancy views (161, 162, 163), each in a different viewing direction, and three 2D occlusion views (171, 172, 173); feeding each of said occupancy and occlusion views (161,..., 173) into a different input (231,..., 236) of a trained convolutional neural network (6); receiving both a class (CL) and a bounding box (BB) of the object of interest (3) from the convolutional neural network (6); and determining the type of the object of interest (3) and the state of the object of interest (3). The invention further relates to a system for carrying out said method.
METHOD FOR DETERMINING A TYPE AND A STATE OF AN OBJECT OF INTEREST