1. A non-transitory, machine-readable storage medium comprising instructions stored therein, the instructions executable by one or more processors to facilitate performing a method for creating one or more 3-D images, said method comprising: obtaining object models of each said image to be created; generating a plurality of segmentation layer masks from each said obtained model, each said segmentation layer mask having a plurality of features; rendering a 3-D image from an assembled set of said generated masks; classifying each of said plurality of features as being a static feature or a dynamic feature based on how closely a 3-D point in a point cloud associated with said 3-D image is mapped to a corresponding 2-D point in one or more 2-D images; assigning weighted values to said plurality of features such that static features receive a higher weight value than do dynamic features; and calculating a scene geometry by iterating said segmentation layer masks, said iterating comprising iteratively determining one or more features associated with one or more respective 3-D points that do not satisfy a threshold for mapping to one or more respective 2-D points, and iteratively adjusting one or more of said weighted values based on said determined one or more features, said iterating terminating after a plurality of iterations when a predetermined condition is satisfied.