1. A computer implemented method of generating a multi-layered point based 3D representation of a scene comprising: constructing an alpha model of one or more randomly selected regions associated with at least one of a plurality of objects in a depth map of a scene, wherein the one or more randomly selected regions are associated with edges of the at least one of the plurality of objects and are having similar depth value and depth jump, and wherein the alpha model indicates variation of a transparency value in the one or more randomly selected regions; identifying mixed pixel regions associated with edges of the plurality of objects in the depth map; estimating colour, depth and transparency values for pixels in each of the identified mixed pixel regions using associated colour information from an image map of the scene, associated depth value information from the depth map, and transparency information from the alpha model based on the associated depth information; generating a multi-layered point based 3D representation of the scene by organising the estimated colour, transparency, and depth values; and rendering one or more 3D views of the scene using the multi-layered point based 3D representation of the scene, wherein the multi-layered point based 3D representation of the scene enables preserving soft edges of the plurality of objects in the one or more 3D views.