A method for identifying a composition material of an object located in an environment surrounding at least one device, the object moving relative to the device, in which at least one sensor is mounted on the device and communicates with at least one central processing unit, wherein: /A/ the sensor generates a point cloud frame (PCF j) of a continuous stream by emitting a physical signal at a first wavelength (λ ej) of a plurality of different wavelengths, wherein the point cloud frame (PCF j) comprises a set of data points (M i), at least one data point (M i) comprising coordinates ((φ i,θ i,d i) LCS of the object in a local volume (L j) surrounding the sensor at time t j in a local coordinate system of the sensor, said data point (M i) also comprising an intensity value (Ii) of a reflected physical signal corresponding to the emitted physical signal once reflected on the object, /B/ the central processing unit receives the point cloud frame (PCF j) and determines the coordinates ((φ i,θ i,d i) GCS of each data point (M i) of the point cloud frame (PCF j) in a global coordinate system of the environment surrounding the device, the intensity value (Ii) being associated with the coordinates ((φ i,θ i,d i) GCS of each data point (M i) in the global coordinate system, /C/ the central processing unit determine the coordinates (φ i,θ i,d i) GCS of the object at time t j in the global coordinate system, /D/ the central processing unit stores in a memory the coordinates (φ i,θ i,d i) GCS of the object in the global coordinate system at time t j, - steps /A/ to /D/ are repeated with the sensor or another sensor generating another point cloud frame (PCF j+1) by emitting another physical signal at a second wavelength (λ ej+1) of the plurality of different wavelengths, at time t j+1, so that at least two intensity values (I i,j, I i,j+1) are associated to coordinates (φ i,θ i,d i) GCS of the object in the global coordinate system at two different times (tj, t j+1), IEI the central processing unit determines a reflectivity response of the object from the at least two intensity values (I i,j, l i,j+1), and /F/ the central processing unit identifies the composition material of the object by comparing the reflectivity response determined at step /E/ with reference reflectivity responses of known materials stored in a library, and wherein the central processing unit determines the coordinates (φ i,θ i.d i) GCS of the object at time tj in a global coordinate system by: - comparing the point cloud frame (PCF j) with a global cumulated tridimensional map of the environment to determine an aligned point cloud frame (PCF j,align) in the global coordinate system, and - identifying a set of data points of the point cloud frame (PCF j) that cannot be aligned in the global coordinate system, so that this set of data points corresponds to the moving object. /A/ the sensor generates a point cloud frame (PCF j) of a continuous stream by emitting a physical signal at a first wavelength (λ ej) of a plurality of different wavelengths, wherein the point cloud frame (PCF j) comprises a set of data points (M i), at least one data point (M i) comprising coordinates ((φ i,θ i,d i) LCS of the object in a local volume (L j) surrounding the sensor at time t j in a local coordinate system of the sensor, said data point (M i) also comprising an intensity value (Ii) of a reflected physical signal corresponding to the emitted physical signal once reflected on the object, /B/ the central processing unit receives the point cloud frame (PCF j) and determines the coordinates ((φ i,θ i,d i) GCS of each data point (M i) of the point cloud frame (PCF j) in a global coordinate system of the environment surrounding the device, the intensity value (Ii) being associated with the coordinates ((φ i,θ i,d i) GCS of each data point (M i) in the global coordinate system, /C/ the central processing unit determine the coordinates (φ i,θ i,d i) GCS of the object at time t j in the global coordinate system, /D/ the central processing unit stores in a memory the coordinates (φ i,θ i,d i) GCS of the object in the global coordinate system at time t j, - steps /A/ to /D/ are repeated with the sensor or another sensor generating another point cloud frame (PCF j+1) by emitting another physical signal at a second wavelength (λ ej+1) of the plurality of different wavelengths, at time t j+1, so that at least two intensity values (I i,j, I i,j+1) are associated to coordinates (φ i,θ i,d i) GCS of the object in the global coordinate system at two different times (tj, t j+1), IEI the central processing unit determines a reflectivity response of the object from the at least two intensity values (I i,j, l i,j+1), and /F/ the central processing unit identifies the composition material of the object by comparing the reflectivity response determined at step /E/ with reference reflectivity responses of known materials stored in a library, and - comparing the point cloud frame (PCF j) with a global cumulated tridimensional map of the environment to determine an aligned point cloud frame (PCF j,align) in the global coordinate system, and - identifying a set of data points of the point cloud frame (PCF j) that cannot be aligned in the global coordinate system, so that this set of data points corresponds to the moving object.