Methods and systems for inspection, safety assurance, tracking, and/or as-built comparison use an imaging tool to acquire imaging data of a scene. The imaging data is processed to create a three-dimensional representation of the scene. Radio frequency (RF) data is received from an RF tag using an RF reader. The RF tag is associated with an object within the scene. The object in the three-dimensional representation of the scene is identified based on the RF data and compared to a model of the object.