1. A method for processing scenes comprising point data reflected from a space comprising a target, the method comprising: receiving three-dimensional point data; loading the point data into a three-dimensional voxel array as a plurality of voxels comprising components and non-connected voxels; determining connected components in the array; determining a size for each connected component and a hit count for each occupied voxel; determining for each voxel, whether the hit count satisfies a hit threshold; and writing each occupied voxel to an output file if its hit count satisfies a pre-determined hit threshold.