2. The method of claim 1 , further comprising creating joints between the primitive shapes and part models prior to assembling the 3D surface model of the scanned scene, wherein the creating joints comprises determining whether potential joints correspond to parallel or non-parallel connections, and selecting a joint type from parallel joint, bent joint, and straight joint types.
2. The method of claim 1 , further comprising creating joints between the primitive shapes and part models prior to assembling the 3D surface model of the scanned scene, wherein the creating joints comprises determining whether potential joints correspond to parallel or non-parallel connections, and selecting a joint type from parallel joint, bent joint, and straight joint types. 4. The method of claim 2 , further comprising determining whether an adjustment to an axis of an object to be joined is required, and applying the adjustment where required.