Three-dimensional (3D) model creation and incremental model refinement from laser scans

A method, system, and apparatus create a 3D CAD model. Scan data from two or more structured scans of a real-world scene are acquired and each scan processed independently by segmenting the scan data into multiple segments, filtering the scan data, and fitting an initial model that is used as a model candidate. Model candidates are clustered into groups and a refined model is fit onto the model candidates in the same group. A grid of cells representing points is mapped over the refined model. Each of the grid cells is labeled by processing each scan independently, labeling each cell located within the refined model as occupied, utilizing back projection to label remaining cells as occluded or empty. The labels from multiple scans are then combined. Based on the labeling, model details are extracted to further define and complete the refined model.