A medication identification system comprising: an imaging device comprising: a structured light scanner having at least one camera; or a stereoscopic imager having at least two cameras; configured to collect surface image data of one or more pills; a controller configured to control the imaging device to collect the image data of the one or more pills; the system being configured to use the surface image data of the one or more pills to generate three-dimensional geometric data for each pill and to determine the identity of each of the one or more pills based on at least the geometric data; characterised in that the system further includes lights which are configured to illuminate the one or more pills in a manner which creates shadows of the one or more pills, and in that said one or more camera(s) is (are) configured to record images of these shadows and to record colour information, or in that an additional camera is provided which is configured to record images of these shadows and to record colour information; in that said light includes lights of different colours from the group including white light, ultraviolet light, red light, green light, blue light and infrared light; in that the system is configured to generate a three-dimensional point cloud from the surface image data from the imaging device and to generate geometric data for each pill from said three dimensional point cloud, to capture and analyse shadow images for each pill, and to capture and analyse colour information for the or each pill in conjunction with the geometric data; and in that the system comprises a chamber into which the one or more pills to be identified are placed, which is closed to ambient light. an imaging device comprising: a structured light scanner having at least one camera; or a stereoscopic imager having at least two cameras; configured to collect surface image data of one or more pills; a controller configured to control the imaging device to collect the image data of the one or more pills; the system being configured to use the surface image data of the one or more pills to generate three-dimensional geometric data for each pill and to determine the identity of each of the one or more pills based on at least the geometric data; characterised in that the system further includes lights which are configured to illuminate the one or more pills in a manner which creates shadows of the one or more pills, and in that said one or more camera(s) is (are) configured to record images of these shadows and to record colour information, or in that an additional camera is provided which is configured to record images of these shadows and to record colour information; in that said light includes lights of different colours from the group including white light, ultraviolet light, red light, green light, blue light and infrared light; in that the system is configured to generate a three-dimensional point cloud from the surface image data from the imaging device and to generate geometric data for each pill from said three dimensional point cloud, to capture and analyse shadow images for each pill, and to capture and analyse colour information for the or each pill in conjunction with the geometric data; and in that the system comprises a chamber into which the one or more pills to be identified are placed, which is closed to ambient light.