Systems and methods are described for generating models of three-dimensional objects using an identified template from a library of reference objects. An object may be scanned using a 3D scanner or other computing device, which may generate scan data including a “point cloud” of geometric points corresponding to the surface of the object. The point cloud or other scan data may be used to identify a reference object that corresponds to the scanned object, and a normalized point cloud may be obtained for the reference object. The normalized point cloud may then be deformed to more accurately fit the shape of the scanned object, and a 3D model may be generated based on the deformed point cloud. Multiple templates may be used to generate a normalized point cloud for an object that partially corresponds to more than one reference object, and images, meshes, wireframes, or other representations may be generated.