Abstract: A computer-implemented method for generating a parametric model of a physical structure based on point cloud data, the point cloud data describing a point cloud comprising points acquired in an environment in which the physical structure is located, wherein the physical structure comprises a plurality of parts, wherein the plurality of parts are arranged as an interconnected chain of parts that are physically connected, comprising: acquiring the point cloud data, the point cloud data comprising geometry information of the environment; acquiring geometry information of a set of predefined geometric shapes related to the plurality of parts; performing a classification on the point cloud data to detect parts of the plurality of parts in the point cloud data based on the geometry information; assign to each detected part of the plurality of parts a set of points of the point cloud; and detect physical connections of two or more detected parts.