A system, comprising: a stereoscopic camera configured to acquire multiple pairs of images of a surface; and a processor configured to: sequentially acquire multiple pairs of stereoscopic images of a surface from the stereoscopic camera; incrementally construct a 3D model (400, 800, 1006) of the surface from the image pairs concurrently with the sequential image acquisition, wherein incrementally constructing comprises, for each currently acquired image pair: registering the currently acquired image pair to a location on the 3D model; binning the currently acquired image pair by combining pixel values in a binning operation; calculating a low resolution distortion of the binned images; calculating an average distance between the camera and the 3D surface, using the calculated low resolution distortion; selecting a distortion correction table corresponding to the average distance; applying the selected distortion correction table to correct a distortion of the currently acquired image pair; determining a point cloud of the corrected, currently acquired image pair; and adding the currently acquired image pair to the 3D model, by adding the point cloud to the 3D model at the registered location. a stereoscopic camera configured to acquire multiple pairs of images of a surface; and a processor configured to: sequentially acquire multiple pairs of stereoscopic images of a surface from the stereoscopic camera; incrementally construct a 3D model (400, 800, 1006) of the surface from the image pairs concurrently with the sequential image acquisition, wherein incrementally constructing comprises, for each currently acquired image pair: registering the currently acquired image pair to a location on the 3D model; binning the currently acquired image pair by combining pixel values in a binning operation; calculating a low resolution distortion of the binned images; calculating an average distance between the camera and the 3D surface, using the calculated low resolution distortion; selecting a distortion correction table corresponding to the average distance; applying the selected distortion correction table to correct a distortion of the currently acquired image pair; determining a point cloud of the corrected, currently acquired image pair; and adding the currently acquired image pair to the 3D model, by adding the point cloud to the 3D model at the registered location. sequentially acquire multiple pairs of stereoscopic images of a surface from the stereoscopic camera; incrementally construct a 3D model (400, 800, 1006) of the surface from the image pairs concurrently with the sequential image acquisition, wherein incrementally constructing comprises, for each currently acquired image pair: registering the currently acquired image pair to a location on the 3D model; binning the currently acquired image pair by combining pixel values in a binning operation; calculating a low resolution distortion of the binned images; calculating an average distance between the camera and the 3D surface, using the calculated low resolution distortion; selecting a distortion correction table corresponding to the average distance; applying the selected distortion correction table to correct a distortion of the currently acquired image pair; determining a point cloud of the corrected, currently acquired image pair; and adding the currently acquired image pair to the 3D model, by adding the point cloud to the 3D model at the registered location. registering the currently acquired image pair to a location on the 3D model; binning the currently acquired image pair by combining pixel values in a binning operation; calculating a low resolution distortion of the binned images; calculating an average distance between the camera and the 3D surface, using the calculated low resolution distortion; selecting a distortion correction table corresponding to the average distance; applying the selected distortion correction table to correct a distortion of the currently acquired image pair; determining a point cloud of the corrected, currently acquired image pair; and adding the currently acquired image pair to the 3D model, by adding the point cloud to the 3D model at the registered location.