Abstract: The invention relates to a method for identifying a difference between a first 3D model of an environment and a second 3D model of the environment. The first and second 3D model each comprise a plurality of points or parts, wherein each point or part of the first and second model comprises geometrical information and texture information. Corresponding points or parts of the first and second 3D model are matched based on the geometrical information and/or the texture information. The matched points or parts of the first and second model are compared to determine at least one difference value based on the geometrical information and the texture information of the first and second model. A difference between the first and second model is identified if the at least one difference value exceeds a predetermined value. The invention also relates to an arrangement, a computer program, and a computer program product.