A system for computer vision is disclosed. The system may comprise a processor and a non-transitory computer-readable storage medium coupled to the processor. The non-transitory computer-readable storage medium may store instructions that, when executed by the processor, cause the system to perform a method. The method may comprise obtaining a first and a second images of at least a portion of an object, extracting a first and a second 2D contours of the portion of the object respectively from the first and second images, matching one or more first points on the first 2D contour with one or more second points on the second 2D contour to obtain a plurality of matched contour points and a plurality of mismatched contour points, and reconstructing a shape of the portion of the object based at least in part on at least a portion of the matched points and at least a portion of the mismatched contour points.