A device and method of dimensioning using digital images and depth data is provided. The device includes a camera and a depth sensing device whose fields of view generally overlap. Segments of shapes belonging to an object identified in a digital image from the camera are identified. Based on respective depth data, from the depth sensing device, associated with each of the segments of the shapes belonging to the object, it is determined whether each of the segments is associated with a same shape belonging to the object. Once all the segments are processed to determine their respective associations with the shapes of the object in the digital image, dimensions of the object are computed based on the respective depth data and the respective associations of the shapes.