1. A method of refining a three-dimensional model comprising the steps of: providing a three-dimensional model of an object; obtaining a first two-dimensional image of the object from a first camera pose; obtaining a second two-dimensional image of the object from a second camera pose, wherein the second two-dimensional image includes a common portion of a surface of the object with the first two-dimensional image; projecting the first two-dimensional image onto the three-dimensional model, thereby providing a projected two-dimensional image; deforming the projected two-dimensional image based upon a spatial relationship of the first camera pose, the second camera pose, and the three-dimensional model to obtain an expected image from the second camera pose; comparing the second two-dimensional image to the expected image to identify one or more discrepancies; and correcting the three-dimensional model based upon the one or more discrepancies.