1. A method for determining a three-dimensional model from two images the method implemented at least in part by a data processing system and comprising the steps of: receiving a first image captured from a first viewpoint, the first image including a first two-dimensional image together with a corresponding first range map; receiving a second image captured from a second viewpoint, the second image including a second two-dimensional image together with a corresponding second range map, the second viewpoint being different from the first viewpoint; identifying a set of corresponding features in the first and second two-dimensional images; removing any extraneous corresponding features in the set of corresponding features responsive to the first and second range maps to produce a refined set of corresponding features; determining a geometrical transform for transforming three-dimensional coordinates for the first image to be consistent three-dimensional coordinates for the second image responsive to three-dimensional coordinates for the refined set of corresponding features, the three-dimensional coordinates comprising two-dimensional pixel coordinates from the corresponding two-dimensional image together with a range coordinate from the corresponding range map; determining a three-dimensional model responsive to the first image, the second image and the geometrical transform; and storing the three-dimensional model in a processor-accessible memory system.