The invention relates to a computer-implemented method for updating a view of a spatial scene, comprising the following steps: S1) receiving image points of the view of the spatial scene, S2) acquiring a plurality of acquisition points of the scene by means of a camera, S3) assigning the acquisition points to respective corresponding image points of the view as a function of position information, S4) determining a corresponding deviation, and S5) updating the view of the spatial scene by means of the deviation. S5) excluding from the update those acquisition points with deviations below a tolerance threshold, S6) summarizing a plurality of image points of the view into a sub-view, S7) determining a spatial environment for sub-view image points of a subset with deviations above the tolerance threshold, S8) determining whether at least one acquisition point is located within a volume spanned by the determined spatial environment and an
image sensor of the camera, and if the at least one acquisition point is located within the volume spanned by the determined spatial environment and the
image sensor of the camera, if the at least one acquisition point is located within the volume spanned by the determined spatial environment and the
image sensor of the camera. S9) excluding the sub-view image points from the update if the deviation of at least one acquisition point located within the volume is above a motion threshold, S10) updating only the image points of the view not excluded from the update based only on the acquisition points not excluded from the update, S11) providing an updated view.