A head mounted display (HMD) dynamically generates a model of an area. The HMD includes a depth camera assembly (DCA), a color camera, and a processing circuitry. The processing circuitry receives, from the DCA, a frame of depth image data, generates a depth map of a portion of the area based on the frame of the depth image data, receives a frame of color image data from the camera, determines a location in a model of the area that corresponds with the portion of the area of the depth map based on the frame of the color image data, and update the model of the area by combining the depth map of the portion of area with one or more other depth maps of one or more other portions of the area based on the location in the model.