There is research for this on small scale real life locations: https://nerf-w.github.io/ can't find code implemented for nerf-w but vanilla nerf still exists: https://github.com/yenchenlin/nerf-pytorch might require a lot of compute though. And before anyone asks, the 3d models can be extracted from it. It requires marching along the rays. Here is an anime girl-guy doing a toturial on it:
(Last edit promise) more info on methods that probably fit better can be found here: https://paperswithcode.com/task/3d-scene-reconstruction#code