A system for generating a dynamic three-dimensional model of a space, the system comprising - a camera module comprising an optical sensor adapted for recording image information of the space, and a depth sensor adapted for recording depth information of the space, and - a modelling module adapted for generating a dynamic three-dimensional model of the space on the basis of the image information and the depth information, wherein - the image information with the optical sensor and the depth information with the depth sensor are recorded at a plurality of discrete times, - the system comprises a synchronisation signal generating module determining the discrete times associated with the image information and the discrete times associated with the depth information synchronously with each other, and - the dynamic three-dimensional model is generated at a plurality of the discrete times of the image information and of the depth information, and at each of the discrete times the image information and the depth information associated with the given discrete time are integrated into the dynamic three-dimensional model on the basis of position and orientation of the camera module at the given discrete time, which position and orientation are determined by the modelling module using a Maximum Likelihood estimation on the basis of information provided by the sensors (104, 108) of the camera module at the discrete times in an observation window, characterised in that the observation window comprises for the given discrete time of the dynamic three-dimensional model at least one discrete time preceding the given discrete time and at least one discrete time subsequent to the given discrete time, said at least one discrete time subsequent to the given discrete time causing a delay in said integration of the image information and the depth information associated with the given discrete time. - a camera module comprising an optical sensor adapted for recording image information of the space, and a depth sensor adapted for recording depth information of the space, and - a modelling module adapted for generating a dynamic three-dimensional model of the space on the basis of the image information and the depth information, - the image information with the optical sensor and the depth information with the depth sensor are recorded at a plurality of discrete times, - the system comprises a synchronisation signal generating module determining the discrete times associated with the image information and the discrete times associated with the depth information synchronously with each other, and - the dynamic three-dimensional model is generated at a plurality of the discrete times of the image information and of the depth information, and at each of the discrete times the image information and the depth information associated with the given discrete time are integrated into the dynamic three-dimensional model on the basis of position and orientation of the camera module at the given discrete time, which position and orientation are determined by the modelling module using a Maximum Likelihood estimation on the basis of information provided by the sensors (104, 108) of the camera module at the discrete times in an observation window,