1. A method of scene reconstruction comprising: obtaining a plurality of images of a scene representing at least two perspective views of said scene; generating a 3-dimensional model of said scene using a first subset of said plurality of images, wherein said generating comprises selecting one or more vertices of said 3-dimensional model; calculating a perspective for each said image in said first subset based on one or more of said one or more selected vertices; and refining said model based on one or more of said calculated perspectives and a second subset of said images, wherein said second subset includes at least one image not in said first subset.