1. A method comprising: detecting light from a box object through an imaging lens arrangement with an imaging sensor having two-dimensional photosensitive elements to capture at least one image of the box object, wherein the box object has the shape of a rectangular solid; identifying a geometric mark with fixed dimensions on the box object in the at least one image to find positions of at least two reference points of the geometric mark in the at least one image, wherein the at least two reference points are separated by a predetermined distance; identifying corners of the box object in the at least one image; determining, using a processor and based on the corners identified in the at least one image, normal vectors corresponding to orientations of faces of the box object; determining, using the processor and based on (i) the normal vectors and (ii) the positions of the at least two reference points, positions of at least four corner points of the box object in an object space; determining, using the processor and based on the positions of the at least four corner points in the object space, dimensions of the box object, with the box dimensions including the width, the length, and the height of the box object.