A method for determining volume of an object, comprising: obtaining a target depth image containing a target object which is captured by a depth image capturing device; performing segmentation based on depth data in the target depth image to obtain a target image region corresponding to the target object; determining a target circumscribed rectangle that corresponds to the target image region and meets a predetermined condition, which comprises: determining a target circumscribed rectangle that corresponds to the target image region and has a minimum area, or, determining a target circumscribed rectangle that corresponds to the target image region and has a minimum difference between its area and a predetermined area threshold; extracting image coordinates of each vertex of the target circumscribed rectangle in a binarized frame difference image, wherein the frame difference image is an image that is obtained based on the difference between the depth data of the target depth image and depth data of a predetermined background depth image and characterised by projecting the extracted image coordinates of each vertex into the target depth image to generate a reference point located in the target depth image; calculating three-dimensional coordinates for each reference point in a camera world coordinate system according to a principle of perspective projection in camera imaging; and with the three-dimensional coordinates of the reference points, calculating Euclidean distance between every two of the reference points, determining a length and a width of the target object as two distances other than the longest distance in the calculated Euclidean distances, subtracting a depth value of a region corresponding to the reference points from a depth value of the predetermined background depth image to obtain a height of the target object, and determining a volume of the target object as the product of the length, width and height of the target object. obtaining a target depth image containing a target object which is captured by a depth image capturing device; performing segmentation based on depth data in the target depth image to obtain a target image region corresponding to the target object; determining a target circumscribed rectangle that corresponds to the target image region and meets a predetermined condition, which comprises: determining a target circumscribed rectangle that corresponds to the target image region and has a minimum area, or, determining a target circumscribed rectangle that corresponds to the target image region and has a minimum difference between its area and a predetermined area threshold; determining a target circumscribed rectangle that corresponds to the target image region and has a minimum area, or, determining a target circumscribed rectangle that corresponds to the target image region and has a minimum difference between its area and a predetermined area threshold; extracting image coordinates of each vertex of the target circumscribed rectangle in a binarized frame difference image, wherein the frame difference image is an image that is obtained based on the difference between the depth data of the target depth image and depth data of a predetermined background depth image and characterised by projecting the extracted image coordinates of each vertex into the target depth image to generate a reference point located in the target depth image; calculating three-dimensional coordinates for each reference point in a camera world coordinate system according to a principle of perspective projection in camera imaging; and with the three-dimensional coordinates of the reference points, calculating Euclidean distance between every two of the reference points, determining a length and a width of the target object as two distances other than the longest distance in the calculated Euclidean distances, subtracting a depth value of a region corresponding to the reference points from a depth value of the predetermined background depth image to obtain a height of the target object, and determining a volume of the target object as the product of the length, width and height of the target object.