Abstract: A method for creating a 3D model of a scene from a single frame of data points representing image and/or depth data is provided, comprising the steps of: segmenting the data points into a plurality of groups of data points, each group of data points having a high probability of representing a single object; determining, for each group of data points, which method from the group of network completion methods, object assignment methods is suitable for creating a 3D half model from the group of data points; creating a 3D half model from the group of data points according to the determined method, and merging the 3D half models into an overall 3D model.