A method for recognizing objects in a warehouse with the following steps: • Detecting image data with a 3D camera attached to an industrial truck , wherein the image data comprise a plurality of pixels, and distance information is assigned to each pixel, • Creating a two-dimensional data set by projecting pixels on a projection plane arranged perpendicular to a viewing direction of the 3D camera in that all relevant pixels are shown in one plane without taking into account the distance information, • Comparing the two-dimensional data set with a predefined pattern representing an object, and provisionally recognizing an object at a position in the projection plane when a correspondence is found in the comparison, • Creating another data set that comprises a depth profile along a line in the projection plane at the position at which the object was provisionally recognized, wherein the depth profile indicates a distance of a pixel of the image data from the projection plane for each point of the line , • Comparing the other data set with a predefined depth profile pattern assigned to the object, and finalizing the recognizing of the object when a correspondence is found in the comparison, • Wherein, for an object type, a first predefined pattern is present that corresponds to a view of the entire object, and a second predefined pattern that corresponds to a characteristic section of the object, • Wherein the two-dimensional data set is compared with the first predefined pattern at a first distance between the 3D camera and the projection plane and with the second predefined pattern at a second distance between the 3D camera and the projection plane. • Detecting image data with a 3D camera attached to an industrial truck , wherein the image data comprise a plurality of pixels, and distance information is assigned to each pixel, • Creating a two-dimensional data set by projecting pixels on a projection plane arranged perpendicular to a viewing direction of the 3D camera in that all relevant pixels are shown in one plane without taking into account the distance information, • Comparing the two-dimensional data set with a predefined pattern representing an object, and provisionally recognizing an object at a position in the projection plane when a correspondence is found in the comparison, • Creating another data set that comprises a depth profile along a line in the projection plane at the position at which the object was provisionally recognized, wherein the depth profile indicates a distance of a pixel of the image data from the projection plane for each point of the line , • Comparing the other data set with a predefined depth profile pattern assigned to the object, and finalizing the recognizing of the object when a correspondence is found in the comparison, • Wherein, for an object type, a first predefined pattern is present that corresponds to a view of the entire object, and a second predefined pattern that corresponds to a characteristic section of the object, • Wherein the two-dimensional data set is compared with the first predefined pattern at a first distance between the 3D camera and the projection plane and with the second predefined pattern at a second distance between the 3D camera and the projection plane. <EOS>