1. Model generation unit for generating trained models (M) of moving objects, based on physically measured object scan data (S), comprising: A template interface, which is adapted to provide at least one common template (T) for the respective object A sensing device for measuring object scan data (S) in different shapes and in different poses Access means to a database, storing at least one generic object model An initializing interface, which is adapted to provide initialized object scan data (S) and initialized template data (T) A Co-Registration unit, which is adapted for executing a non-linear objective function for co-registering a set of initialized object scan data (S) by executing registering and model generation in a combined manner, namely: Aligning the initialized template (T) to the set of initialized object scans (S) while simultaneously: Training the generic object model by minimizing errors in order to derive a trained object model (M) by constraining the generic object model to be scan-specific, object-specific and pose-specific An output interface for providing at least a set of trained models (M), maximally consistent with the measured object scan data (S).