1. A method for locating objects in a pair of two-dimensional images of a three-dimensional scene taken by an imaging device having two image capture planes, where the scene includes a floor, the method comprising: recovering a 3-D point P for each of a plurality of points p that appear in both of the two-dimensional images; estimating a 3-D orientation of the floor, a 3-D orientation of the image capture planes, and a height of the image capture planes from the floor; generating a projection C onto a plane parallel to the floor of the collection of points P that do not represent points on the floor; partitioning the projection C into regions representing objects; fitting one or more symmetric figures to the points in C around the identified regions; and generating an output signal that encodes the one or more symmetric figures.