1. A method of converting 2-D images to 3-D images, said method comprising: rendering a point cloud according to a camera model; obtaining a boolean image from said point cloud; identifying a plurality of segmentation layers within said boolean image, each said layer having static and dynamic features; assigning weighted values to said static and dynamic features such that static features receive a higher weight value than do dynamic features; and calculating a scene geometry by iterating said segmentation layers.