A system for determining characteristics of a medical injury, comprising a mobile or computing device having either connected thereto or included therein an imaging sensor and a structure sensor and being capable of transferring information between sensors and a server via a network , and a processing circuitry provided in the mobile or computing device or in the server and being configured to: obtain imaging information by the imaging sensor and topology information by the structure sensor of an area of interest, the imaging information including two-dimensional information of objects in the area of interest and the topology information including three-dimensional information of objects in the area of interest, the structure sensor and the imaging sensor being different sensors, determine, using the image information, a two-dimensional boundary of an injury portion within imaging information by detecting the contours of the injury portion through image segmentation, map the two-dimensional boundary of the injury portion within the imaging information onto the topology information based on a fixed geometric relationship between the the imaging sensor and the structure sensor and based on the detected contours of the segmented injury portion, extract a three-dimensional model of the medical injury as a three-dimensional point cloud based on the mapping, and determine characteristics of the injury portion within the three-dimensional point cloud based on the topology information and the imaging information, wherein the characteristics include a depth of the medical injury, whereby a reference plane, which follows the anatomical shape of the surrounding body curvature representing what normal skin surface should be without the medical injury, is first created using paraboloid fitting to close the three-dimensional model and the depth is the maximum distance between the surface of the reference plane enclosed within the medical injury boundary and the surface of the medical injury, and display through an interface the determined characteristics for assessment of the medical injury. obtain imaging information by the imaging sensor and topology information by the structure sensor of an area of interest, the imaging information including two-dimensional information of objects in the area of interest and the topology information including three-dimensional information of objects in the area of interest, the structure sensor and the imaging sensor being different sensors, determine, using the image information, a two-dimensional boundary of an injury portion within imaging information by detecting the contours of the injury portion through image segmentation, map the two-dimensional boundary of the injury portion within the imaging information onto the topology information based on a fixed geometric relationship between the the imaging sensor and the structure sensor and based on the detected contours of the segmented injury portion, extract a three-dimensional model of the medical injury as a three-dimensional point cloud based on the mapping, and determine characteristics of the injury portion within the three-dimensional point cloud based on the topology information and the imaging information, wherein the characteristics include a depth of the medical injury, whereby a reference plane, which follows the anatomical shape of the surrounding body curvature representing what normal skin surface should be without the medical injury, is first created using paraboloid fitting to close the three-dimensional model and the depth is the maximum distance between the surface of the reference plane enclosed within the medical injury boundary and the surface of the medical injury, and display through an interface the determined characteristics for assessment of the medical injury. <EOS>