1. A method for recognizing a three dimensional, 3D, gesture, the method being performed in a device ( 20 ) having access to a database ( 52 ) of gesture images, the device communicating with a sensor ( 34 ) adapted to capture an image ( 33 ) of the 3D gesture, wherein the database ( 52 ) of gesture images comprises indexable features ( 54 ) of normalized gesture images, the indexable features comprising a position and an orientation for each pixel of edge images of the normalized gesture images, the method comprising: capturing ( 110 ) the image ( 33 ) of the 3D gesture via the sensor, normalizing ( 120 ) the captured image in accordance with the normalized gesture images of the database ( 52 ) to allow for a comparison, deriving ( 130 ) indexable features ( 36 ) from the normalized captured image ( 33 ), the indexable features ( 36 ) comprising a position and an orientation for each pixel of an edge image of the normalized captured image, comparing ( 140 ) the derived indexable features ( 36 ) with the indexable features ( 54 ) of the database using a similarity function, and determining ( 150 ) a gesture image in the database ( 52 ) matching the 3D gesture based on the comparison; wherein each entry in the database ( 52 ) of gesture images is tagged with associated 3D motion parameters comprising three orientation and three position parameters, the method further comprising: retrieving 3D motion parameters associated with the determined gesture image matching the 3D gesture from the database ( 52 ).