Methods, system and devices (10) for generating a three-dimensional (3D) model of a corresponding 3D environment are disclosed. An application is downloaded via a wireless telecommunication module to a mobile device having a sensor set including a depth sensor. A user moves the mobile device freehand to scan the 3D environment. The application controls the mobile device to log data from the sensor set into a raw data file which can be processed to generate a 3D model of the 3D environment.