Implementations of the present disclosure provide techniques for providing a presentation of the objects that are depicted in an image of a scene, where the presentation improves perceiving the object within the scene. Some implementations include obtaining an image of a scene; identifying an object within the image of the scene; obtaining a particular three-dimensional model that corresponds to the object; generating or updating a three-dimensional representation of the scene based at least on the particular three-dimensional model of the object; and providing at least a portion of the three-dimensional representation of the scene that was generated or updated based on the three-dimensional model of the object to a scene analyzer. The three-dimensional representation of the scene can include data indicating an attribute of the object that is not visible or is not directly derived from the image of the scene.