1. A method for deriving a three-dimensional model of a scene from a plurality of images of the scene, said method comprising the steps of: (a) generating a plurality of three-dimensional panoramic images of a scene, wherein each three-dimensional panoramic image is derived from a plurality of range images captured from a distinct spatial position; (b) determining transformations that align the plurality of three-dimensional panoramic images; (c) integrating spatial information from the plurality of three-dimensional panoramic images to form a spatial three-dimensional model of the scene; and (d) integrating intensity and texture information from the plurality of three-dimensional panoramic images onto the spatial three-dimensional model to form a three-dimensional model of the scene containing both spatial and intensity information.