1. A method of analyzing an image comprising: acquiring, by a computer, an image of a physical environment, wherein the image comprises a plurality of pixels, each pixel including a two-dimensional pixel location in a plane of the image and a depth value corresponding to a distance between a region of the physical environment and the plane of the image; for each pixel, converting, by the computer, the two dimensional pixel location and the depth value into a corresponding three-dimensional point in the physical environment, wherein each respective three-dimensional point corresponding to a pixel is defined by three coordinate components (x, y, z), each of which has a value in physical units of measurement; determining, by the computer, a set of edge points within the plurality of three-dimensional points based, at least in part, on the z coordinate component of one or more of the plurality of points; generating, by the computer, a distance map, wherein the distance map comprises a matrix of cells; identifying, by the computer, for each cell of the distance map, a closest one of the edge points; assigning, by the computer, to each cell of the distance map, a respective distance value representing a distance between the cell and the closest one edge point to that cell; and based on the respective distance values in the cells of the distance map, determining a location of at least one of a pallet or rack within the physical environment.