Detecting a movable object in a location includes providing a first 3D representation of at least part of a surface providing a second 3D representation of at least part of the surface determining for the first 3D representation a first excluded volume in space where no surface can be present determining for the second 3D representation a second excluded volume in space where no surface can be present if a portion of the surface in the first 3D representation is located in space in the second excluded volume, the portion of the surface in the first 3D representation is disregarded in the generation of the virtual 3D model, and/or if a portion of the surface in the second 3D representation is located in space in the first excluded volume, the portion of the surface in the second 3D representation is disregarded in the generation of the virtual 3D model.
