1. Method for capturing a scene, using a 3D image capturing device, the method comprising, at a first moment of time: capturing a first image of said scene via the 3D image capturing device, wherein the first image comprises an array of pixels each having color intensity values and each having a depth value; generating, based on the first image, a 3D model comprising multiple segments, such that the 3D model represents the scene at the first moment of time; wherein the method further comprises, at a second moment of time subsequent to said first moment of time: capturing a second image of said scene via the 3D image capturing devices, wherein the second image comprises an array of pixels each having color intensity values and each having a depth value; tracking the multiple model segments by calculating movement vectors for each of the segments; and updating the 3D model based on the second image.