A method for determining a three-dimensional model from three or more images comprising: receiving three or more images, each image being captured from a different viewpoint and including a two-dimensional image together with a corresponding range map; designating a plurality of pairs of received images, each pair including a first image and a second image. For each of the designated pairs a geometric transform is determined by identifying a set of corresponding features in the two-dimensional images; removing any extraneous corresponding features to produce a refined set of corresponding features; and determining the geometrical transformation for transforming three-dimensional coordinates for the first image to three-dimensional coordinates for the second image responsive to three-dimensional coordinates for the refined set of corresponding features. A three-dimensional model is determined responsive to the three or more received images and the geometrical transformations for the designated pairs of received images.