1. A method for processing data, comprising: receiving a depth map of a scene containing a humanoid form, the depth map comprising a matrix of pixels having respective pixel depth values; extracting from the depth map respective descriptors based on the depth values in a plurality of patches distributed in respective positions over the humanoid form, wherein extracting the respective descriptors comprises dividing each patch into an array of spatial bins, and computing a vector of descriptor values corresponding to the pixel depth values in each of the spatial bins, wherein the descriptor values are indicative of a statistical distribution of the depth values in each bin; matching the extracted descriptors to previously-stored descriptors in a database; and estimating a pose of the humanoid form based on stored information associated with the matched descriptors.