there are lots of papers that attempt to reconstruct depth maps from monocular RGB images. It's not really my field but here is google scholar search for recent

there are lots of papers that attempt to reconstruct depth maps from monocular RGB images. It's not really my field but here is google scholar search for recent papers that cite a seminal older paper on the topic: https://scholar.google.com/scholar?as_ylo=2017&hl=en&as_sdt=2005&sciodt=0,5&cites=4052327659070755452&scipsc= https://scholar.google.com/scholar?as_ylo=2017&hl=en&as_sdt=... that should be a decent start. If you know the depth of a few pixels in the image, e.g. from a sparse keypoint-based SLAM / visual-inertial odometry system, then you can do better: https://arxiv.org/pdf/1709.07492.pdf https://arxiv.org/pdf/1709.07492.pdf If you already have accurate camera positions, you can use something like occupancy grid mapping or poisson reconstruction to build the mesh.