A method and a system for depth selective segmentation of an object are provided. The method comprises the following steps. An image is captured in an invisible domain of the optical spectrum by illuminating a scene of interest under an illumination corresponding to said invisible domain of the optical spectrum by an invisible light illumination unit. A binary mask is obtained from the image according to a threshold. Part of the image is eliminated by applying the binary mask to the image, and resulting in another image. The threshold is changed and another binary mask is obtained. The latest obtained binary mask is applied to the latest captured image. The step of changing of the threshold, the step of obtaining a mask and the step of applying the latest obtained binary mask on the latest captured image are performed at least once.