A method for use with a user device (100, 204, 1000) in a physical environment, the method comprising: obtaining depth information (302, 502, 902) of the physical environment, wherein the physical environment includes one or more physical objects (210, 212, 704, 814), and wherein the depth information includes a 3-dimensional, 3D, point cloud of the physical environment; capturing a visual image (103, 304, 504) of the physical environment with a visual camera; determining a spatial relationship between the device and the one or more physical objects included in the physical environment based on the depth information, wherein determining the spatial relationship between the device and the one or more physical objects comprises recognizing a hand gesture of a hand of a the user to identify the one or more physical objects to include in a segmented image; generating a spatial area within the 3D point cloud and in proximity to the hand of the user in response to recognizing the hand gesture; and segmenting the visual image based on the depth information to generate the segmented image (308, 514, 516, 910) that includes the one or more physical objects, wherein segmenting the visual image includes: including the one or more physical objects in the segmented image if the one or more physical objects are located at least partially within the spatial area; generating a 3D mesh of the one or more physical objects based on the 3D point cloud, and mapping a portion of the visual image corresponding to the one or more physical objects onto the 3D mesh. obtaining depth information (302, 502, 902) of the physical environment, wherein the physical environment includes one or more physical objects (210, 212, 704, 814), and wherein the depth information includes a 3-dimensional, 3D, point cloud of the physical environment; capturing a visual image (103, 304, 504) of the physical environment with a visual camera; determining a spatial relationship between the device and the one or more physical objects included in the physical environment based on the depth information, wherein determining the spatial relationship between the device and the one or more physical objects comprises recognizing a hand gesture of a hand of a the user to identify the one or more physical objects to include in a segmented image; generating a spatial area within the 3D point cloud and in proximity to the hand of the user in response to recognizing the hand gesture; and segmenting the visual image based on the depth information to generate the segmented image (308, 514, 516, 910) that includes the one or more physical objects, wherein segmenting the visual image includes: including the one or more physical objects in the segmented image if the one or more physical objects are located at least partially within the spatial area; generating a 3D mesh of the one or more physical objects based on the 3D point cloud, and mapping a portion of the visual image corresponding to the one or more physical objects onto the 3D mesh. including the one or more physical objects in the segmented image if the one or more physical objects are located at least partially within the spatial area; generating a 3D mesh of the one or more physical objects based on the 3D point cloud, and mapping a portion of the visual image corresponding to the one or more physical objects onto the 3D mesh.