A system for generating a three-dimensional model of an asset, the system comprising: a memory storing instructions; and a processor configured to execute the instructions, wherein, when executed by the processor, cause the processor to: receive input parameters corresponding to constraints of a mission plan for operating an unmanned vehicle around an asset; generate the mission plan based on the input parameters including information of an asset type representative of the asset, wherein the mission plan includes waypoints identifying locations and orientations of one or more image sensors of the unmanned vehicle with respect to the asset, and wherein the mission plan is generated based on a particular representative shape of the asset; characterized in that; the constraints comprise a first geofence boundary and a second geofence boundary which outline virtual perimeters designating one or more areas of interest; and wherein the execution of the instructions further causes the processor to: generate a travel path for the unmanned vehicle connecting the waypoints that satisfy one or more predefined criteria, wherein the travel path is between the first geofence boundary and the second geofence boundary; determine, at each waypoint, a local geometry of the asset sensed by the one or more image sensors; modify already planned waypoints of the mission plan that are in the local vicinity based on the local geometry of the asset as sensed by the one or more image sensors; and capture images of the asset along waypoints of the modified mission plan. a memory storing instructions; and a processor configured to execute the instructions, wherein, when executed by the processor, cause the processor to: receive input parameters corresponding to constraints of a mission plan for operating an unmanned vehicle around an asset; generate the mission plan based on the input parameters including information of an asset type representative of the asset, wherein the mission plan includes waypoints identifying locations and orientations of one or more image sensors of the unmanned vehicle with respect to the asset, and wherein the mission plan is generated based on a particular representative shape of the asset; characterized in that; the constraints comprise a first geofence boundary and a second geofence boundary which outline virtual perimeters designating one or more areas of interest; and wherein the execution of the instructions further causes the processor to: generate a travel path for the unmanned vehicle connecting the waypoints that satisfy one or more predefined criteria, wherein the travel path is between the first geofence boundary and the second geofence boundary; determine, at each waypoint, a local geometry of the asset sensed by the one or more image sensors; modify already planned waypoints of the mission plan that are in the local vicinity based on the local geometry of the asset as sensed by the one or more image sensors; and capture images of the asset along waypoints of the modified mission plan. receive input parameters corresponding to constraints of a mission plan for operating an unmanned vehicle around an asset; generate the mission plan based on the input parameters including information of an asset type representative of the asset, wherein the mission plan includes waypoints identifying locations and orientations of one or more image sensors of the unmanned vehicle with respect to the asset, and wherein the mission plan is generated based on a particular representative shape of the asset; characterized in that; the constraints comprise a first geofence boundary and a second geofence boundary which outline virtual perimeters designating one or more areas of interest; and wherein the execution of the instructions further causes the processor to: generate a travel path for the unmanned vehicle connecting the waypoints that satisfy one or more predefined criteria, wherein the travel path is between the first geofence boundary and the second geofence boundary; determine, at each waypoint, a local geometry of the asset sensed by the one or more image sensors; modify already planned waypoints of the mission plan that are in the local vicinity based on the local geometry of the asset as sensed by the one or more image sensors; and capture images of the asset along waypoints of the modified mission plan. generate a travel path for the unmanned vehicle connecting the waypoints that satisfy one or more predefined criteria, wherein the travel path is between the first geofence boundary and the second geofence boundary; determine, at each waypoint, a local geometry of the asset sensed by the one or more image sensors; modify already planned waypoints of the mission plan that are in the local vicinity based on the local geometry of the asset as sensed by the one or more image sensors; and capture images of the asset along waypoints of the modified mission plan.