The present invention relates to automatic modeling of a physical scene. At least two images (I1, I2) of the scene are received, which are taken from different angles and/or positions. A matching module (130) matches image objects in the first image (I1) against image objects in the second image (I2), by first loading pixel values for at least one first portion of the first image (I1) into an artificial neural network (133). Then, the artificial neural network (133) scans the second image (I2) in search of pixels representing a respective second portion corresponding to each of the at least one first portion; determines a position of the respective second portion upon fulfillment of a match criterion; and produces a representative matching result (M12). Based on the matching result (M12), a first calculation module (140) calculates a fundamental matrix (F12), which defines a relationship between the first and second images (I1, I2). Based on the fundamental matrix (F12), in turn, a second calculation module (150) calculates a depth map (D12), which describes distance differences between a set of image points in the first image (I1) and a corresponding set of image points in the second image (I2). Finally, the depth map (D12) constitutes a basis for a synthetic model of the scene.