Abstract: A camera, including: two imaging systems each comprising a different optical path corresponding to a different viewing angle of an object; one or more illumination sources; a mask disposed with multiple pairs of apertures, wherein each aperture of each aperture pair corresponds to a different one of the imaging systems; at least one detector configured to acquire multiple image pairs of the object from the two imaging systems via the multiple pairs of apertures; and a processor configured to produce from the multiple acquired image pairs a multi-layer three dimensional reconstruction of the object.

Abstract: A system and method of constructing a 3D model of surface may include: sequentially acquiring multiple pairs of stereoscopic images of a surface from a stereoscopic camera; and incrementally constructing a 3D model of the surface from the image pairs, concurrently with the sequential image acquisition.