1. A 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 device, 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, wherein the tracking the multiple model segments comprises determining that at least one of the multiple model segments is occluded in the second image, and wherein the updating the 3D model comprises keeping the at least one of the multiple segments in the 3D model as occluded part of the model; and updating the 3D model based on the second image.