A system and method for dimensioning large or palletized freight of one or more pieces determines the dimensions of a rectangular prism having the smallest volume which would contain the freight. The system is capable of being positioned remotely from the freight. The system is further configured to determine the dimensions in varying levels of ambient light and varying object surface reflectance. The system still further is configured to first rapidly scan an area to determine the general location of the boundaries of the freight and then more precisely scan the determined general boundaries of the freight to determine the precise boundaries of the freight.