1. A method for locating objects in a three-dimensional scene that includes a floor, the method comprising: capturing two images of the scene substantially simultaneously; computing a depth map of visible texture points; estimating a camera position and a camera orientation of the camera; computing a top view of the visible texture points in the depth map; identifying an object position of one or more objects in the top view; and generating a signal that characterizes the object position of the one or more objects.