Embodiments include systems and methods for creation of a 3D mesh from a video stream or a sequence of frames. A sparse point cloud is first created from the video stream, which is then densified per frame by comparison with spatially proximate frames. A 3D mesh is then created from the densified depth maps, and the mesh is textured by projecting the images from the video stream or sequence of frames onto the mesh. Metric scale of the depth maps may be estimated where direct measurements are not able to be measured or calculated using a machine learning depth estimation network.