1. A system comprising: an imaging device configured to collect surface image data of one or more pills; a controller configured to control the imaging device to collect the image data of the one or more pills; the system being configured to generate a three-dimensional point cloud using the surface image data of the one or more pills; the system being configured to generate geometric data for each pill from the three-dimensional point cloud; and the system being configured to determine the identity of each of the one or more pills based on at least the geometric data generated from the three-dimensional point cloud.