A method for the localization of gripping points of objects, wherein - the objects are scanned by means of a 3D sensor; - the objects are illuminated by means of at least one first illumination unit while the objects are detected by means of a camera; - the boundaries of the objects are determined from a two-dimensional image (36a, 36b, 36c, 36d) generated by the camera; - a spatial position of the objects is determined from detected distance information of the 3D sensor and from the two-dimensional image (36a, 36b, 36c, 36d); and - the gripping points for the objects are determined from the boundaries and from the spatial position of the objects, characterized in that the objects are also at least illuminated by a second, third and fourth illumination unit (30b, 30c, 30d) while the objects are detected by means of the camera, with the illumination units (30a, 30b, 30c, 30d) being arranged spatially offset from one another, wherein the relative positions of the 3D sensor, of the first illumination unit and of the camera with respect to one another are known and the 3D sensor, the illumination units (30a, 30b, 30c, 30d) and the camera are arranged spaced apart and in fixed positions with respect to one another; wherein the illumination units (30a, 30b, 30c, 30d) are activated one after the other and the camera detects the objects and respectively generates a two-dimensional image (36a, 36b, 36c, 36d) on an activation of each illumination unit (30a, 30b, 30c, 30d); and wherein a maximum image (40a, 40b) is generated from a respective two two-dimensional images (36a, 36b, 36c, 36d) generated by the camera, wherein a gradient filtering is carried out on the maximum image (40a, 40b) to generate an edge image; and a respective two edge images are fused to a first result image by means of a minimum formation, the boundaries of the objects being determined from said first result image. - the objects are scanned by means of a 3D sensor; - the objects are illuminated by means of at least one first illumination unit while the objects are detected by means of a camera; - the boundaries of the objects are determined from a two-dimensional image (36a, 36b, 36c, 36d) generated by the camera; - a spatial position of the objects is determined from detected distance information of the 3D sensor and from the two-dimensional image (36a, 36b, 36c, 36d); and - the gripping points for the objects are determined from the boundaries and from the spatial position of the objects, characterized in that the objects are also at least illuminated by a second, third and fourth illumination unit (30b, 30c, 30d) while the objects are detected by means of the camera, with the illumination units (30a, 30b, 30c, 30d) being arranged spatially offset from one another, wherein the relative positions of the 3D sensor, of the first illumination unit and of the camera with respect to one another are known and the 3D sensor, the illumination units (30a, 30b, 30c, 30d) and the camera are arranged spaced apart and in fixed positions with respect to one another; wherein the illumination units (30a, 30b, 30c, 30d) are activated one after the other and the camera detects the objects and respectively generates a two-dimensional image (36a, 36b, 36c, 36d) on an activation of each illumination unit (30a, 30b, 30c, 30d); and wherein a maximum image (40a, 40b) is generated from a respective two two-dimensional images (36a, 36b, 36c, 36d) generated by the camera, wherein a gradient filtering is carried out on the maximum image (40a, 40b) to generate an edge image; and a respective two edge images are fused to a first result image by means of a minimum formation, the boundaries of the objects being determined from said first result image.