A system includes a first camera defining a first camera coordinate system (C1) and configured to acquire a first image of a scene. A range sensor is spaced a first distance from the first camera and defines a range sensor coordinate system (R). A controller is operatively connected to the first camera and range sensor. The controller has a processor and a tangible, non-transitory memory device on which is recorded instructions for executing a method for obtaining a two-dimensional region of interest (u1*, v1*) in the first image, which is a two-dimensional intensity image. The first image is represented by a plurality of first points (u1, v1) in a first image plane. The controller is configured to acquire a range image of the scene with the range sensor. The range image is represented by a plurality of second points (u2, v2, d) in a second image plane.