Disclosed are various embodiments for systems and methods for acquiring images of cavity surfaces and generating three dimensional representations of the cavity surfaces using algorithmic methods, such as, for example, structure from motion. A scanning device illuminates light into a cavity and a probe is inserted into the cavity. Light that is reflected from the cavity surface, including natural features, and within the field of view of a reflective element of the probe is reflected towards a lens within the scanning device and projected onto a sensor. Two-dimensional images are captured as the reflections and reconstructed as the scanning device moves over time. Image processing algorithms are employed to generate a three dimensional image based at least in part on natural features included in a sequence of the two-dimensional images.
