1. A computer-implemented method for generating three-dimensional models, the method comprising: obtaining, by one or more computing devices, a plurality of images depicting a scene; determining, by the one or more computing devices, a pose for each of the plurality of images; determining, by the one or more computing devices, a depth map for each of the plurality of images such that a plurality of depth maps are determined, wherein each of the plurality of depth maps describes a plurality of points in three-dimensional space that correspond to objects in the scene; aligning, by the one or more computing devices, the plurality of depth maps by transforming one or more of the plurality of depth maps so as to improve an alignment between the plurality of depth maps; after aligning the plurality of depth maps, identifying, by the one or more computing devices, one or more of the plurality of points described by one or more of the plurality of depth maps as one or more outlying points; and generating, by the one or more computing devices, a three-dimensional model of the scene based at least in part on the plurality of depth maps.