1. A method of target extraction from a physical space, the method comprising: receiving depth data representative of the physical space; converting the depth data into a point cloud and extracting at least one surface from the point cloud; identifying a target in the physical space from the at least one surface; generating a model of the target with respect to the receipt of the depth data; labeling the target with a unique ID in accordance with a tunable distance threshold and a tunable normal similarity threshold; identifying color and/or texture associated with the at least one surface based on the extraction of the at least one surface and the point cloud; and displaying a visual representation of the model including painting the color and/or texture onto the visual representation of the model.