Abstract: Approaches presented herein can provide for the automatic generation of a digital representation of an environment that may include multiple objects of various object types. An initial representation (e.g., a point cloud) of the environment can be generated from registered image or scan data, for example, and objects in the environment can be segmented and identified based at least on that initial representation. For objects that are recognized based on these segmentations, stored accurate representations can be substituted for those objects in the representation of the environment, and if no such model is available then a mesh or other representation of that object can be generated and positioned in the environment. A result can then include a 3D representation of a scene or environment in which objects are identified and segmented as individual objects, and representations of the scene or environment can be viewed, and interacted with, through various viewports, positions, and perspectives.