In the past, similar palletizing systems were implemented with LiDAR line scanners, however this was severely limited at the achievable speed. A new solution using Time-of-Flight cameras proved to be the best method due to its accuracy, resolution and SDK at an attractive price. One of the challenges with the ToF solution was to overcome the handling of more than 20 different types of pallets which sometimes only differ slightly in dimensions. In addition, sometimes the pallets are not manufactured very precisely or are minimally damaged. Various logic links have been implemented for this purpose, for example, if the primary measured values were not sufficient for a clear identification, then additional determined properties are used until there is a clear match. Another challenge to be addressed was due to the material of the pallets – some of the pallet types were covered with a semi-transparent plastic film. This sometimes led to measurement errors or “ghost data” in the 3D measurement values of the ToF cameras same as with LiDAR systems. However, by combining the 3D measurement value images and the intensity images provided simultaneously by the Helios2, robust reliability could be achieved in conjunction with the logic links.