A system includes an image sensing device that is configured to receive a digital image of a human hand, and a range sensing device that is configured to receive range data relating a distance from the range sensing device to a plurality of points on the human hand. The system uses the range data to generate a range map of the human hand, normalizes a pose of the image of the human hand using the range data and the image, extracts one or more features of the hand from the normalized pose, and stores the extracted features into a computer storage medium.