1. A method for determining dimensions in a scene, comprising steps of: acquiring a single depth image of the scene acquired by a sensor; extracting planes from the single depth image; determining topological relationships of the planes; determining the dimensions based on the planes and the topological relationships; evaluating a quality of the dimensions of the planes acquired from the single depth image using a scene type, and if the quality is sufficient; then outputting the dimensions; otherwise outputting a guidance to reposition the sensor, and wherein the steps are performed in a processor.