A method for identifying a difference between a first 3D model of an environment and at least a second 3D model of the environment, wherein the first and second 3D model each comprise a plurality of points or parts, wherein each point or part of the first and second model comprises geometrical information and texture information, the method comprising the steps of: matching corresponding points or parts of the first and second 3D model based on the geometrical information and/or the texture information, and comparing the matched points or parts of the first and second model to determine at least one difference value based on the geometrical information and the texture information of the first and second model, characterised in that a measurement uncertainty for the geometrical information is associated to each point or part of the respective 3D model and/or wherein a measurement uncertainty for the texture information is associated to each point or part of the respective model, further comprising a step of identifying a difference between the first and second model for each point or part based on the determined at least one difference value and based on the geometrical information measurement uncertainty for the respective model and/or the texture information measurement uncertainty for the respective model, wherein the step of comparing the first and second 3D model further comprises: for each point or part of the first 3D model searching for a closest point in the second 3D model to determine at least one first difference value for that point or part; for each point or part of the second 3D model searching for a closest point in the first 3D model to determine at least one second difference value for that point or part; and to determine the at least one difference value based on the at least one first difference value and the at least one second difference value. matching corresponding points or parts of the first and second 3D model based on the geometrical information and/or the texture information, and comparing the matched points or parts of the first and second model to determine at least one difference value based on the geometrical information and the texture information of the first and second model, characterised in that a measurement uncertainty for the geometrical information is associated to each point or part of the respective 3D model and/or wherein a measurement uncertainty for the texture information is associated to each point or part of the respective model, further comprising a step of identifying a difference between the first and second model for each point or part based on the determined at least one difference value and based on the geometrical information measurement uncertainty for the respective model and/or the texture information measurement uncertainty for the respective model, wherein the step of comparing the first and second 3D model further comprises: for each point or part of the first 3D model searching for a closest point in the second 3D model to determine at least one first difference value for that point or part; for each point or part of the second 3D model searching for a closest point in the first 3D model to determine at least one second difference value for that point or part; and to determine the at least one difference value based on the at least one first difference value and the at least one second difference value. for each point or part of the first 3D model searching for a closest point in the second 3D model to determine at least one first difference value for that point or part; for each point or part of the second 3D model searching for a closest point in the first 3D model to determine at least one second difference value for that point or part; and to determine the at least one difference value based on the at least one first difference value and the at least one second difference value.