1. A method for visual-based recognition of an object, said method comprising: receiving depth data for at least a pixel of an image of an object, said depth data comprising information relating to a distance from a visual sensor to a portion of said object shown at said pixel; generating a plan-view image based in part on said depth data; extracting a plan-view template from said plan-view image; and processing said plan-view template at a classifier, wherein said classifier is trained to make a decision according to pre-configured parameters.