A method for multi-modal touch and touch-less interaction with a computerized system, said multi-modal touch and touch-less interaction being performed using information determined by a single sensing system, the single sensing system comprising a three-dimensional imaging device, the method comprising the steps of: a) detecting and determining an interaction surface within a frustum of the three-dimensional imaging device; b) detecting and tracking at least one portion of at least one object within the frustum of the three-dimensional imaging device; c) initiating an interaction with the computerized system by determining if said at least one portion of said at least one object being tracked has performed a predetermined specific gesture, the predetermined specific gesture comprising at least one of: a predetermined touch gesture on a predetermined interactive area of the interaction surface and a predetermined touch-less three-dimensional gesture in a predetermined interactive volume normal to a predetermined interactive area of the interaction surface; and d) interacting with the computerized system by detecting and recognizing the gestures performed by said at least one portion of said at least one object within the frustum of the three-dimensional imaging device the detected and recognized gestures comprising at least one of: a touch gesture on a predetermined interactive area of the interaction surface and a predetermined touch-less three-dimensional gesture in a predetermined interactive volume normal to a predetermined interactive area of the interaction surface characterised in that the information determined by the single sensing system comprising the three-dimensional imaging device comprises a three-dimensional point cloud, each point in the three-dimensional point cloud corresponding to a pixel having three-dimensional coordinates, and, step a) comprises defining a size of the interaction surface, measuring a distance from the three-dimensional imaging device to the interaction surface, determining a plane within the three-dimensional point cloud based on at least four points spread over the surface of the interaction surface, and locating each point on the determined plane as a function of its distance from the three-dimensional imaging device and as a function to any point within the frustum of the three-dimensional imaging device and step b) further comprises clustering the three-dimensional point cloud to detect said at least one portion of said at least one object for tracking. a) detecting and determining an interaction surface within a frustum of the three-dimensional imaging device; b) detecting and tracking at least one portion of at least one object within the frustum of the three-dimensional imaging device; c) initiating an interaction with the computerized system by determining if said at least one portion of said at least one object being tracked has performed a predetermined specific gesture, the predetermined specific gesture comprising at least one of: a predetermined touch gesture on a predetermined interactive area of the interaction surface and a predetermined touch-less three-dimensional gesture in a predetermined interactive volume normal to a predetermined interactive area of the interaction surface; and d) interacting with the computerized system by detecting and recognizing the gestures performed by said at least one portion of said at least one object within the frustum of the three-dimensional imaging device the detected and recognized gestures comprising at least one of: a touch gesture on a predetermined interactive area of the interaction surface and a predetermined touch-less three-dimensional gesture in a predetermined interactive volume normal to a predetermined interactive area of the interaction surface characterised in that the information determined by the single sensing system comprising the three-dimensional imaging device comprises a three-dimensional point cloud, each point in the three-dimensional point cloud corresponding to a pixel having three-dimensional coordinates, and, step a) comprises defining a size of the interaction surface, measuring a distance from the three-dimensional imaging device to the interaction surface, determining a plane within the three-dimensional point cloud based on at least four points spread over the surface of the interaction surface, and locating each point on the determined plane as a function of its distance from the three-dimensional imaging device and as a function to any point within the frustum of the three-dimensional imaging device and step b) further comprises clustering the three-dimensional point cloud to detect said at least one portion of said at least one object for tracking.